# 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: SMBSurveyPlan02.rte # Mission File: SMBSurveyPlan02.cfg # Distance: 40957.463653 (m) # Estimated Time: 30864 (s) 8.574 (hr) # Abort Time: 40124 (s) # Way Points: 32 # Route Points: 732 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 100 (m) # Minimum Vehicle Altitude: 25 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 850 (m) # Abort Vehicle Depth: 870 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -118.600453 33.855133 -89.528605 0.000000 3 # 1 -118.604082 33.848564 -188.030823 802.174352 1 # 2 -118.614108 33.839576 -356.447266 2163.961641 1 # 3 -118.637385 33.803508 -843.824951 6707.563093 1 # 4 -118.630471 33.799532 -852.001139 7484.875098 1 # 5 -118.641523 33.786477 -870.016418 9257.937322 4 # 6 -118.644187 33.788016 -868.419037 9557.937322 3 # 7 -118.633297 33.801152 -849.349228 11329.745266 4 # 8 -118.635961 33.802692 -845.455933 11629.745266 3 # 9 -118.646851 33.789556 -867.648941 13401.553210 4 # 10 -118.649515 33.791095 -866.884918 13701.553210 3 # 11 -118.638625 33.804232 -842.470917 15473.361154 4 # 12 -118.641289 33.805771 -839.403244 15773.361154 3 # 13 -118.652179 33.792635 -861.703796 17545.169097 4 # 14 -118.654843 33.794174 -860.024109 17845.169097 3 # 15 -118.643954 33.807310 -840.567490 19616.977041 4 # 16 -118.646618 33.808850 -842.954697 19916.977041 3 # 17 -118.657508 33.795713 -862.966873 21688.784985 4 # 18 -118.660172 33.797252 -868.009872 21988.784985 3 # 19 -118.649283 33.810389 -846.326172 23760.592929 4 # 20 -118.651947 33.811928 -847.438492 24060.592929 3 # 21 -118.662836 33.798791 -869.355515 25832.400873 4 # 22 -118.665501 33.800330 -871.207748 26132.400873 3 # 23 -118.654612 33.813468 -849.820740 27904.208816 4 # 24 -118.657277 33.815007 -852.134094 28204.208816 3 # 25 -118.668166 33.801869 -873.272430 29976.016760 4 # 26 -118.666828 33.805870 -866.761230 30436.730560 3 # 27 -118.637961 33.789276 -866.906820 33681.857641 4 # 28 -118.635369 33.792560 -868.707031 34118.103437 3 # 29 -118.664004 33.808866 -856.986898 37327.483446 4 # 30 -118.661124 33.812093 -854.950195 37773.789990 3 # 31 -118.632776 33.795845 -863.819336 40957.463653 4 # # A total of 732 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 40124; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 850.000000; abortDepth = 870.000000; minAltitude = 25.000000; abortAltitude = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 5.000000; pitch = 20.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 45.298801 meters # Minimum depth: 863.303665 meters looking forward 200.000000 meters along route # Maximum depth: 863.819336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.303665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795845; longitude = -118.632776; captureRadius = 10; duration = 45; initialDepth = 763.303665; finalDepth = 763.303665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.515671 # Altitude Set: 100 # Vehicle Depth:763.303665 # Seafloor Depth:-863.819336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.241204 meters # Minimum depth: 862.542299 meters looking forward 200.000000 meters along route # Maximum depth: 863.819336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.542299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796076; longitude = -118.633179; captureRadius = 10; duration = 58; initialDepth = 762.542299; finalDepth = 763.303665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.680742 # Altitude Set: 100 # Vehicle Depth:762.542299 # Seafloor Depth:-863.223041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.241079 meters # Minimum depth: 861.731241 meters looking forward 200.000000 meters along route # Maximum depth: 863.819336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.731241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796373; longitude = -118.633698; captureRadius = 10; duration = 58; initialDepth = 761.731241; finalDepth = 762.542299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.680742 # Altitude Set: 100 # Vehicle Depth:761.731241 # Seafloor Depth:-862.234357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 64.023736 meters # Minimum depth: 861.180685 meters looking forward 200.000000 meters along route # Maximum depth: 863.303665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.180685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796670; longitude = -118.634216; captureRadius = 10; duration = 64; initialDepth = 761.180685; finalDepth = 761.731241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.553787 # Altitude Set: 100 # Vehicle Depth:761.180685 # Seafloor Depth:-861.734472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.458045 meters # Minimum depth: 860.835304 meters looking forward 200.000000 meters along route # Maximum depth: 862.701272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.835304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.634786; captureRadius = 10; duration = 52; initialDepth = 760.835304; finalDepth = 761.180685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.553787 # Altitude Set: 100 # Vehicle Depth:760.835304 # Seafloor Depth:-861.128504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.240702 meters # Minimum depth: 859.878473 meters looking forward 200.000000 meters along route # Maximum depth: 861.754457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.878473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797265; longitude = -118.635253; captureRadius = 10; duration = 58; initialDepth = 759.878473; finalDepth = 760.835304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.640012 # Altitude Set: 100 # Vehicle Depth:759.878473 # Seafloor Depth:-860.518485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.653629 meters # Minimum depth: 858.800693 meters looking forward 200.000000 meters along route # Maximum depth: 861.346954 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.800693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797562; longitude = -118.635772; captureRadius = 10; duration = 58; initialDepth = 758.800693; finalDepth = 759.878473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.89665 # Altitude Set: 100 # Vehicle Depth:758.800693 # Seafloor Depth:-859.697343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 57.827398 meters # Minimum depth: 857.648697 meters looking forward 200.000000 meters along route # Maximum depth: 860.848326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.648697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.636294; captureRadius = 10; duration = 57; initialDepth = 757.648697; finalDepth = 758.800693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.139566 # Altitude Set: 100 # Vehicle Depth:757.648697 # Seafloor Depth:-858.788263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.240325 meters # Minimum depth: 856.516841 meters looking forward 200.000000 meters along route # Maximum depth: 860.038544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.516841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798156; longitude = -118.636809; captureRadius = 10; duration = 58; initialDepth = 756.516841; finalDepth = 757.648697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.139566 # Altitude Set: 100 # Vehicle Depth:756.516841 # Seafloor Depth:-857.262149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.240200 meters # Minimum depth: 854.240702 meters looking forward 200.000000 meters along route # Maximum depth: 859.101624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.240702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798454; longitude = -118.637328; captureRadius = 10; duration = 58; initialDepth = 754.240702; finalDepth = 756.516841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.800855 # Altitude Set: 100 # Vehicle Depth:754.240702 # Seafloor Depth:-856.041557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.783620 meters # Minimum depth: 852.739180 meters looking forward 200.000000 meters along route # Maximum depth: 857.648697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.739180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798751; longitude = -118.637846; captureRadius = 10; duration = 62; initialDepth = 752.739180; finalDepth = 754.240702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.800855 # Altitude Set: 100 # Vehicle Depth:752.73918 # Seafloor Depth:-854.086962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.696402 meters # Minimum depth: 851.737524 meters looking forward 200.000000 meters along route # Maximum depth: 856.662860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.737524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.638405; captureRadius = 10; duration = 53; initialDepth = 751.737524; finalDepth = 752.739180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.347782 # Altitude Set: 100 # Vehicle Depth:751.737524 # Seafloor Depth:-852.612355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.239823 meters # Minimum depth: 849.786503 meters looking forward 200.000000 meters along route # Maximum depth: 854.688746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.786503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799345; longitude = -118.638883; captureRadius = 10; duration = 58; initialDepth = 749.786503; finalDepth = 751.737524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.430347 # Altitude Set: 100 # Vehicle Depth:749.786503 # Seafloor Depth:-851.216850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.239698 meters # Minimum depth: 848.015825 meters looking forward 200.000000 meters along route # Maximum depth: 853.261487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.015825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799642; longitude = -118.639402; captureRadius = 10; duration = 58; initialDepth = 748.015825; finalDepth = 749.786503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.472397 # Altitude Set: 100 # Vehicle Depth:748.015825 # Seafloor Depth:-849.488222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.239571 meters # Minimum depth: 846.884952 meters looking forward 200.000000 meters along route # Maximum depth: 851.747752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.884952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799940; longitude = -118.639920; captureRadius = 10; duration = 58; initialDepth = 746.884952; finalDepth = 748.015825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.472397 # Altitude Set: 100 # Vehicle Depth:746.884952 # Seafloor Depth:-847.998534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.239447 meters # Minimum depth: 844.877348 meters looking forward 200.000000 meters along route # Maximum depth: 850.071670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.877348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800237; longitude = -118.640439; captureRadius = 10; duration = 58; initialDepth = 744.877348; finalDepth = 746.884952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.357474 # Altitude Set: 100 # Vehicle Depth:744.877348 # Seafloor Depth:-846.234822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.239320 meters # Minimum depth: 843.679880 meters looking forward 200.000000 meters along route # Maximum depth: 848.435829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.679880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800534; longitude = -118.640958; captureRadius = 10; duration = 58; initialDepth = 743.679880; finalDepth = 744.877348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.357474 # Altitude Set: 100 # Vehicle Depth:743.67988 # Seafloor Depth:-844.423184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 61.543543 meters # Minimum depth: 842.368523 meters looking forward 200.000000 meters along route # Maximum depth: 846.884952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.368523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800831; longitude = -118.641476; captureRadius = 10; duration = 61; initialDepth = 742.368523; finalDepth = 743.679880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.232055 # Altitude Set: 100 # Vehicle Depth:742.368523 # Seafloor Depth:-843.600578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 54.934722 meters # Minimum depth: 841.302123 meters looking forward 200.000000 meters along route # Maximum depth: 844.997313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.302123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801145; longitude = -118.642024; captureRadius = 10; duration = 54; initialDepth = 741.302123; finalDepth = 742.368523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.232055 # Altitude Set: 100 # Vehicle Depth:741.302123 # Seafloor Depth:-842.276137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.238944 meters # Minimum depth: 839.990286 meters looking forward 200.000000 meters along route # Maximum depth: 843.851318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.990286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801426; longitude = -118.642513; captureRadius = 10; duration = 58; initialDepth = 739.990286; finalDepth = 741.302123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.974014 # Altitude Set: 100 # Vehicle Depth:739.990286 # Seafloor Depth:-840.835425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.238818 meters # Minimum depth: 837.644843 meters looking forward 200.000000 meters along route # Maximum depth: 842.850531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.644843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801723; longitude = -118.643032; captureRadius = 10; duration = 58; initialDepth = 737.644843; finalDepth = 739.990286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.011836 # Altitude Set: 100 # Vehicle Depth:737.644843 # Seafloor Depth:-839.656679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 65.673411 meters # Minimum depth: 837.198236 meters looking forward 200.000000 meters along route # Maximum depth: 840.835425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.198236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802020; longitude = -118.643550; captureRadius = 10; duration = 65; initialDepth = 737.198236; finalDepth = 737.644843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.011836 # Altitude Set: 100 # Vehicle Depth:737.198236 # Seafloor Depth:-837.606697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.803849 meters # Minimum depth: 836.617080 meters looking forward 200.000000 meters along route # Maximum depth: 840.124865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.617080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.644135; captureRadius = 10; duration = 50; initialDepth = 736.617080; finalDepth = 737.198236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.493449 # Altitude Set: 100 # Vehicle Depth:736.61708 # Seafloor Depth:-837.110529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.238442 meters # Minimum depth: 836.345932 meters looking forward 200.000000 meters along route # Maximum depth: 838.140649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.345932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802615; longitude = -118.644587; captureRadius = 10; duration = 58; initialDepth = 736.345932; finalDepth = 736.617080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.493449 # Altitude Set: 100 # Vehicle Depth:736.345932 # Seafloor Depth:-836.424774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 60.303502 meters # Minimum depth: 836.345932 meters looking forward 200.000000 meters along route # Maximum depth: 837.314272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.345932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802912; longitude = -118.645106; captureRadius = 10; duration = 60; initialDepth = 736.345932; finalDepth = 736.345932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.222063 # Altitude Set: 100 # Vehicle Depth:736.345932 # Seafloor Depth:-836.567995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.173005 meters # Minimum depth: 836.345932 meters looking forward 200.000000 meters along route # Maximum depth: 836.638920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.345932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.645643; captureRadius = 10; duration = 56; initialDepth = 736.345932; finalDepth = 736.345932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.246935 # Altitude Set: 100 # Vehicle Depth:736.345932 # Seafloor Depth:-836.592867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.238065 meters # Minimum depth: 836.430733 meters looking forward 200.000000 meters along route # Maximum depth: 837.163527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.430733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803506; longitude = -118.646143; captureRadius = 10; duration = 58; initialDepth = 736.430733; finalDepth = 736.345932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.308272 # Altitude Set: 100 # Vehicle Depth:736.430733 # Seafloor Depth:-836.739005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.237940 meters # Minimum depth: 836.555594 meters looking forward 200.000000 meters along route # Maximum depth: 837.329822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.555594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803804; longitude = -118.646662; captureRadius = 10; duration = 58; initialDepth = 736.555594; finalDepth = 736.430733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.604116 # Altitude Set: 100 # Vehicle Depth:736.555594 # Seafloor Depth:-837.159710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 64.433318 meters # Minimum depth: 836.739005 meters looking forward 200.000000 meters along route # Maximum depth: 837.596062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.739005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804101; longitude = -118.647180; captureRadius = 10; duration = 64; initialDepth = 736.739005; finalDepth = 736.555594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.604116 # Altitude Set: 100 # Vehicle Depth:736.739005 # Seafloor Depth:-837.341590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 52.042184 meters # Minimum depth: 837.118253 meters looking forward 200.000000 meters along route # Maximum depth: 837.800937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.118253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.647754; captureRadius = 10; duration = 52; initialDepth = 737.118253; finalDepth = 736.739005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.602585 # Altitude Set: 100 # Vehicle Depth:737.118253 # Seafloor Depth:-837.607789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.237563 meters # Minimum depth: 837.252280 meters looking forward 200.000000 meters along route # Maximum depth: 838.782381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.252280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804695; longitude = -118.648217; captureRadius = 10; duration = 58; initialDepth = 737.252280; finalDepth = 737.118253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.908546 # Altitude Set: 100 # Vehicle Depth:737.25228 # Seafloor Depth:-838.160826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 59.063499 meters # Minimum depth: 837.525845 meters looking forward 200.000000 meters along route # Maximum depth: 839.760896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.525845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804992; longitude = -118.648736; captureRadius = 10; duration = 59; initialDepth = 737.525845; finalDepth = 737.252280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.34653 # Altitude Set: 100 # Vehicle Depth:737.525845 # Seafloor Depth:-838.872375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 57.411250 meters # Minimum depth: 837.777764 meters looking forward 200.000000 meters along route # Maximum depth: 840.288549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.777764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805294; longitude = -118.649262; captureRadius = 10; duration = 57; initialDepth = 737.777764; finalDepth = 737.525845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.999847 # Altitude Set: 100 # Vehicle Depth:737.777764 # Seafloor Depth:-839.777611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.237187 meters # Minimum depth: 838.703530 meters looking forward 200.000000 meters along route # Maximum depth: 841.490611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.703530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805587; longitude = -118.649773; captureRadius = 10; duration = 58; initialDepth = 738.703530; finalDepth = 737.777764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.999847 # Altitude Set: 100 # Vehicle Depth:738.70353 # Seafloor Depth:-840.553362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.237061 meters # Minimum depth: 839.372833 meters looking forward 200.000000 meters along route # Maximum depth: 842.391465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.372833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805884; longitude = -118.650292; captureRadius = 10; duration = 58; initialDepth = 739.372833; finalDepth = 738.703530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.35485 # Altitude Set: 100 # Vehicle Depth:739.372833 # Seafloor Depth:-841.727683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 63.193264 meters # Minimum depth: 840.288549 meters looking forward 200.000000 meters along route # Maximum depth: 843.473663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.288549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806181; longitude = -118.650810; captureRadius = 10; duration = 63; initialDepth = 740.288549; finalDepth = 739.372833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.35485 # Altitude Set: 100 # Vehicle Depth:740.288549 # Seafloor Depth:-842.432901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.280481 meters # Minimum depth: 841.383448 meters looking forward 200.000000 meters along route # Maximum depth: 843.724365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.383448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806504; longitude = -118.651373; captureRadius = 10; duration = 53; initialDepth = 741.383448; finalDepth = 740.288549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.146677 # Altitude Set: 100 # Vehicle Depth:741.383448 # Seafloor Depth:-843.530125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.236684 meters # Minimum depth: 842.284074 meters looking forward 200.000000 meters along route # Maximum depth: 844.262900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.284074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806776; longitude = -118.651847; captureRadius = 10; duration = 58; initialDepth = 742.284074; finalDepth = 741.383448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.146677 # Altitude Set: 100 # Vehicle Depth:742.284074 # Seafloor Depth:-843.963697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.236559 meters # Minimum depth: 843.111333 meters looking forward 200.000000 meters along route # Maximum depth: 845.123296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.111333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807073; longitude = -118.652366; captureRadius = 10; duration = 58; initialDepth = 743.111333; finalDepth = 742.284074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.679623 # Altitude Set: 100 # Vehicle Depth:743.111333 # Seafloor Depth:-844.337513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.236433 meters # Minimum depth: 843.724365 meters looking forward 200.000000 meters along route # Maximum depth: 846.101929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.724365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807370; longitude = -118.652884; captureRadius = 10; duration = 58; initialDepth = 743.724365; finalDepth = 743.111333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.408034 # Altitude Set: 100 # Vehicle Depth:743.724365 # Seafloor Depth:-845.132399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.236308 meters # Minimum depth: 844.220261 meters looking forward 200.000000 meters along route # Maximum depth: 847.248939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.220261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807667; longitude = -118.653403; captureRadius = 10; duration = 58; initialDepth = 744.220261; finalDepth = 743.724365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.269391 # Altitude Set: 100 # Vehicle Depth:744.220261 # Seafloor Depth:-846.489652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.236182 meters # Minimum depth: 844.739713 meters looking forward 200.000000 meters along route # Maximum depth: 848.781934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.739713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807965; longitude = -118.653921; captureRadius = 10; duration = 58; initialDepth = 744.739713; finalDepth = 744.220261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.753058 # Altitude Set: 100 # Vehicle Depth:744.739713 # Seafloor Depth:-847.492771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 61.953247 meters # Minimum depth: 846.101929 meters looking forward 200.000000 meters along route # Maximum depth: 849.988857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.101929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808262; longitude = -118.654440; captureRadius = 10; duration = 61; initialDepth = 746.101929; finalDepth = 744.739713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.81379 # Altitude Set: 100 # Vehicle Depth:746.101929 # Seafloor Depth:-848.915719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 54.518741 meters # Minimum depth: 847.184542 meters looking forward 200.000000 meters along route # Maximum depth: 850.984260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.184542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808578; longitude = -118.654992; captureRadius = 10; duration = 54; initialDepth = 747.184542; finalDepth = 746.101929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.894397 # Altitude Set: 100 # Vehicle Depth:747.184542 # Seafloor Depth:-850.078939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.235806 meters # Minimum depth: 848.431091 meters looking forward 200.000000 meters along route # Maximum depth: 852.234422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.431091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808856; longitude = -118.655477; captureRadius = 10; duration = 58; initialDepth = 748.431091; finalDepth = 747.184542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.012703 # Altitude Set: 100 # Vehicle Depth:748.431091 # Seafloor Depth:-851.443794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.235680 meters # Minimum depth: 849.599685 meters looking forward 200.000000 meters along route # Maximum depth: 852.742872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.599685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809154; longitude = -118.655996; captureRadius = 10; duration = 58; initialDepth = 749.599685; finalDepth = 748.431091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.012703 # Altitude Set: 100 # Vehicle Depth:749.599685 # Seafloor Depth:-852.317751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 66.082889 meters # Minimum depth: 851.443794 meters looking forward 200.000000 meters along route # Maximum depth: 852.937414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.443794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809451; longitude = -118.656514; captureRadius = 10; duration = 66; initialDepth = 751.443794; finalDepth = 749.599685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.718066 # Altitude Set: 100 # Vehicle Depth:751.443794 # Seafloor Depth:-852.739724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.388095 meters # Minimum depth: 852.110352 meters looking forward 200.000000 meters along route # Maximum depth: 852.937414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.110352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809788; longitude = -118.657103; captureRadius = 10; duration = 50; initialDepth = 752.110352; finalDepth = 751.443794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.29593 # Altitude Set: 100 # Vehicle Depth:752.110352 # Seafloor Depth:-852.931229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.235303 meters # Minimum depth: 852.667989 meters looking forward 200.000000 meters along route # Maximum depth: 853.109871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.667989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810045; longitude = -118.657551; captureRadius = 10; duration = 58; initialDepth = 752.667989; finalDepth = 752.110352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.820877 # Altitude Set: 100 # Vehicle Depth:752.667989 # Seafloor Depth:-852.788469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 60.713268 meters # Minimum depth: 852.788469 meters looking forward 200.000000 meters along route # Maximum depth: 853.365560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.788469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810342; longitude = -118.658070; captureRadius = 10; duration = 60; initialDepth = 752.788469; finalDepth = 752.667989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.34871 # Altitude Set: 100 # Vehicle Depth:752.788469 # Seafloor Depth:-853.137179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 55.756963 meters # Minimum depth: 852.788469 meters looking forward 200.000000 meters along route # Maximum depth: 853.468076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.788469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810652; longitude = -118.658610; captureRadius = 10; duration = 55; initialDepth = 752.788469; finalDepth = 752.788469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.585632 # Altitude Set: 100 # Vehicle Depth:752.788469 # Seafloor Depth:-853.374101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.234928 meters # Minimum depth: 853.067508 meters looking forward 200.000000 meters along route # Maximum depth: 854.359201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.067508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810937; longitude = -118.659107; captureRadius = 10; duration = 58; initialDepth = 753.067508; finalDepth = 752.788469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.652105 # Altitude Set: 100 # Vehicle Depth:753.067508 # Seafloor Depth:-853.719613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.234801 meters # Minimum depth: 853.297359 meters looking forward 200.000000 meters along route # Maximum depth: 854.443172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.297359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811234; longitude = -118.659626; captureRadius = 10; duration = 58; initialDepth = 753.297359; finalDepth = 753.067508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.10703 # Altitude Set: 100 # Vehicle Depth:753.297359 # Seafloor Depth:-854.404389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 58.234677 meters # Minimum depth: 853.457807 meters looking forward 200.000000 meters along route # Maximum depth: 854.517460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.457807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811531; longitude = -118.660144; captureRadius = 10; duration = 58; initialDepth = 753.457807; finalDepth = 753.297359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.10703 # Altitude Set: 100 # Vehicle Depth:753.457807 # Seafloor Depth:-854.441825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 51.764051 meters # Minimum depth: 854.310464 meters looking forward 200.000000 meters along route # Maximum depth: 854.845734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.310464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811829; longitude = -118.660663; captureRadius = 10; duration = 51; initialDepth = 754.310464; finalDepth = 753.457807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.984018 # Altitude Set: 100 # Vehicle Depth:754.310464 # Seafloor Depth:-854.557584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 8.926069 meters # Minimum depth: 854.310464 meters looking forward 200.000000 meters along route # Maximum depth: 855.002424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.310464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812093; longitude = -118.661124; captureRadius = 10; duration = 8; initialDepth = 754.310464; finalDepth = 754.310464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.639731 # Altitude Set: 100 # Vehicle Depth:754.310464 # Seafloor Depth:-854.950195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556468 meters # Minimum depth: 854.379180 meters looking forward 200.000000 meters along route # Maximum depth: 855.006377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.379180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812028; longitude = -118.661181; captureRadius = 10; duration = 53; initialDepth = 754.379180; finalDepth = 754.310464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.639731 # Altitude Set: 100 # Vehicle Depth:754.37918 # Seafloor Depth:-855.006377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556559 meters # Minimum depth: 854.495741 meters looking forward 200.000000 meters along route # Maximum depth: 855.006377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.495741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811641; longitude = -118.661527; captureRadius = 10; duration = 53; initialDepth = 754.495741; finalDepth = 754.379180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.627197 # Altitude Set: 100 # Vehicle Depth:754.495741 # Seafloor Depth:-854.808225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556649 meters # Minimum depth: 854.774255 meters looking forward 200.000000 meters along route # Maximum depth: 855.087836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.774255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811254; longitude = -118.661873; captureRadius = 10; duration = 53; initialDepth = 754.774255; finalDepth = 754.495741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.312484 # Altitude Set: 100 # Vehicle Depth:754.774255 # Seafloor Depth:-854.867861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556740 meters # Minimum depth: 854.774255 meters looking forward 200.000000 meters along route # Maximum depth: 855.333984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.774255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810867; longitude = -118.662218; captureRadius = 10; duration = 53; initialDepth = 754.774255; finalDepth = 754.774255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.415398 # Altitude Set: 100 # Vehicle Depth:754.774255 # Seafloor Depth:-855.189653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556831 meters # Minimum depth: 854.774255 meters looking forward 200.000000 meters along route # Maximum depth: 855.349243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.774255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810479; longitude = -118.662564; captureRadius = 10; duration = 53; initialDepth = 754.774255; finalDepth = 754.774255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.574988 # Altitude Set: 100 # Vehicle Depth:754.774255 # Seafloor Depth:-855.349243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.556921 meters # Minimum depth: 855.012878 meters looking forward 200.000000 meters along route # Maximum depth: 855.389832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.012878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810092; longitude = -118.662910; captureRadius = 10; duration = 53; initialDepth = 755.012878; finalDepth = 754.774255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.574988 # Altitude Set: 100 # Vehicle Depth:755.012878 # Seafloor Depth:-855.021917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 60.251644 meters # Minimum depth: 855.012878 meters looking forward 200.000000 meters along route # Maximum depth: 856.465359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.012878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809705; longitude = -118.663255; captureRadius = 10; duration = 60; initialDepth = 755.012878; finalDepth = 755.012878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.524705 # Altitude Set: 100 # Vehicle Depth:755.012878 # Seafloor Depth:-855.537583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 55.788663 meters # Minimum depth: 855.012878 meters looking forward 200.000000 meters along route # Maximum depth: 856.927508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.012878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809269; longitude = -118.663644; captureRadius = 10; duration = 55; initialDepth = 755.012878; finalDepth = 755.012878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.588517 # Altitude Set: 100 # Vehicle Depth:755.012878 # Seafloor Depth:-856.601395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 6.457122 meters # Minimum depth: 855.012878 meters looking forward 200.000000 meters along route # Maximum depth: 856.986898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.012878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808866; longitude = -118.664004; captureRadius = 10; duration = 6; initialDepth = 755.012878; finalDepth = 755.012878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.97402 # Altitude Set: 100 # Vehicle Depth:755.012878 # Seafloor Depth:-856.986898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.114173 meters # Minimum depth: 855.389832 meters looking forward 200.000000 meters along route # Maximum depth: 856.986898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.389832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808833; longitude = -118.663947; captureRadius = 10; duration = 58; initialDepth = 755.389832; finalDepth = 755.012878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.97402 # Altitude Set: 100 # Vehicle Depth:755.389832 # Seafloor Depth:-856.879516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 60.167808 meters # Minimum depth: 854.406805 meters looking forward 200.000000 meters along route # Maximum depth: 856.986898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.406805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808538; longitude = -118.663428; captureRadius = 10; duration = 60; initialDepth = 754.406805; finalDepth = 755.389832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.489684 # Altitude Set: 100 # Vehicle Depth:754.406805 # Seafloor Depth:-855.706578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.060912 meters # Minimum depth: 853.515852 meters looking forward 200.000000 meters along route # Maximum depth: 856.986898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.515852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808232; longitude = -118.662891; captureRadius = 10; duration = 56; initialDepth = 753.515852; finalDepth = 754.406805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.299773 # Altitude Set: 100 # Vehicle Depth:753.515852 # Seafloor Depth:-854.364558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.114547 meters # Minimum depth: 851.454399 meters looking forward 200.000000 meters along route # Maximum depth: 856.116567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.454399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807948; longitude = -118.662391; captureRadius = 10; duration = 58; initialDepth = 751.454399; finalDepth = 753.515852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.638621 # Altitude Set: 100 # Vehicle Depth:751.454399 # Seafloor Depth:-853.093020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.114672 meters # Minimum depth: 849.400960 meters looking forward 200.000000 meters along route # Maximum depth: 854.826561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.400960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807652; longitude = -118.661873; captureRadius = 10; duration = 58; initialDepth = 749.400960; finalDepth = 751.454399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.638621 # Altitude Set: 100 # Vehicle Depth:749.40096 # Seafloor Depth:-850.929991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 65.849756 meters # Minimum depth: 846.627035 meters looking forward 200.000000 meters along route # Maximum depth: 853.093020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.627035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807357; longitude = -118.661354; captureRadius = 10; duration = 65; initialDepth = 746.627035; finalDepth = 749.400960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.712638 # Altitude Set: 100 # Vehicle Depth:746.627035 # Seafloor Depth:-849.339673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.379963 meters # Minimum depth: 844.462768 meters looking forward 200.000000 meters along route # Maximum depth: 851.798393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.462768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807022; longitude = -118.660766; captureRadius = 10; duration = 50; initialDepth = 744.462768; finalDepth = 746.627035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.712638 # Altitude Set: 100 # Vehicle Depth:744.462768 # Seafloor Depth:-846.255471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115047 meters # Minimum depth: 841.665045 meters looking forward 200.000000 meters along route # Maximum depth: 849.816117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.665045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806766; longitude = -118.660317; captureRadius = 10; duration = 58; initialDepth = 741.665045; finalDepth = 744.462768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.00619 # Altitude Set: 100 # Vehicle Depth:741.665045 # Seafloor Depth:-843.671235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 61.606193 meters # Minimum depth: 841.182968 meters looking forward 200.000000 meters along route # Maximum depth: 847.559167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.182968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806471; longitude = -118.659798; captureRadius = 10; duration = 61; initialDepth = 741.182968; finalDepth = 741.665045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.00619 # Altitude Set: 100 # Vehicle Depth:741.182968 # Seafloor Depth:-841.480445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.624276 meters # Minimum depth: 841.182968 meters looking forward 200.000000 meters along route # Maximum depth: 844.629185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.182968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.659249; captureRadius = 10; duration = 54; initialDepth = 741.182968; finalDepth = 741.182968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.297477 # Altitude Set: 100 # Vehicle Depth:741.182968 # Seafloor Depth:-841.389147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115421 meters # Minimum depth: 841.182968 meters looking forward 200.000000 meters along route # Maximum depth: 842.092844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.182968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805881; longitude = -118.658761; captureRadius = 10; duration = 58; initialDepth = 741.182968; finalDepth = 741.182968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.524541 # Altitude Set: 100 # Vehicle Depth:741.182968 # Seafloor Depth:-841.707509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115547 meters # Minimum depth: 840.406174 meters looking forward 200.000000 meters along route # Maximum depth: 841.941527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.406174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805585; longitude = -118.658243; captureRadius = 10; duration = 58; initialDepth = 740.406174; finalDepth = 741.182968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.370834 # Altitude Set: 100 # Vehicle Depth:740.406174 # Seafloor Depth:-841.777008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115671 meters # Minimum depth: 838.035985 meters looking forward 200.000000 meters along route # Maximum depth: 841.941527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.035985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805290; longitude = -118.657724; captureRadius = 10; duration = 58; initialDepth = 738.035985; finalDepth = 740.406174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.349326 # Altitude Set: 100 # Vehicle Depth:738.035985 # Seafloor Depth:-840.385311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115796 meters # Minimum depth: 833.649605 meters looking forward 200.000000 meters along route # Maximum depth: 841.941527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 733.649605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804995; longitude = -118.657206; captureRadius = 10; duration = 58; initialDepth = 733.649605; finalDepth = 738.035985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.155968 # Altitude Set: 100 # Vehicle Depth:733.649605 # Seafloor Depth:-836.805573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.115921 meters # Minimum depth: 829.898888 meters looking forward 200.000000 meters along route # Maximum depth: 840.933947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.898888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804700; longitude = -118.656687; captureRadius = 10; duration = 58; initialDepth = 729.898888; finalDepth = 733.649605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.155968 # Altitude Set: 100 # Vehicle Depth:729.898888 # Seafloor Depth:-832.639647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 63.044621 meters # Minimum depth: 826.642638 meters looking forward 200.000000 meters along route # Maximum depth: 838.035985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 726.642638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804404; longitude = -118.656169; captureRadius = 10; duration = 63; initialDepth = 726.642638; finalDepth = 729.898888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.011577 # Altitude Set: 100 # Vehicle Depth:726.642638 # Seafloor Depth:-829.654215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.187596 meters # Minimum depth: 825.554917 meters looking forward 200.000000 meters along route # Maximum depth: 833.965108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.554917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804084; longitude = -118.655606; captureRadius = 10; duration = 53; initialDepth = 725.554917; finalDepth = 726.642638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.011577 # Altitude Set: 100 # Vehicle Depth:725.554917 # Seafloor Depth:-826.447286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.116296 meters # Minimum depth: 824.880582 meters looking forward 200.000000 meters along route # Maximum depth: 830.561734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.880582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803814; longitude = -118.655131; captureRadius = 10; duration = 58; initialDepth = 724.880582; finalDepth = 725.554917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.892369 # Altitude Set: 100 # Vehicle Depth:724.880582 # Seafloor Depth:-825.343014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.800950 meters # Minimum depth: 824.719913 meters looking forward 200.000000 meters along route # Maximum depth: 827.553231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.719913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803518; longitude = -118.654613; captureRadius = 10; duration = 58; initialDepth = 724.719913; finalDepth = 724.880582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.462432 # Altitude Set: 100 # Vehicle Depth:724.719913 # Seafloor Depth:-824.928376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 57.432017 meters # Minimum depth: 824.719913 meters looking forward 200.000000 meters along route # Maximum depth: 825.555908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.719913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.654088; captureRadius = 10; duration = 57; initialDepth = 724.719913; finalDepth = 724.719913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.208463 # Altitude Set: 100 # Vehicle Depth:724.719913 # Seafloor Depth:-824.721634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.116671 meters # Minimum depth: 824.174233 meters looking forward 200.000000 meters along route # Maximum depth: 824.967035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.174233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802928; longitude = -118.653576; captureRadius = 10; duration = 58; initialDepth = 724.174233; finalDepth = 724.719913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.273127 # Altitude Set: 100 # Vehicle Depth:724.174233 # Seafloor Depth:-824.447360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.116795 meters # Minimum depth: 822.870538 meters looking forward 200.000000 meters along route # Maximum depth: 824.831982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.870538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802633; longitude = -118.653057; captureRadius = 10; duration = 58; initialDepth = 722.870538; finalDepth = 724.174233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.114523 # Altitude Set: 100 # Vehicle Depth:722.870538 # Seafloor Depth:-823.985061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 64.483093 meters # Minimum depth: 822.428341 meters looking forward 200.000000 meters along route # Maximum depth: 824.447360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.428341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802337; longitude = -118.652539; captureRadius = 10; duration = 64; initialDepth = 722.428341; finalDepth = 722.870538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.114523 # Altitude Set: 100 # Vehicle Depth:722.428341 # Seafloor Depth:-822.802461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 51.750873 meters # Minimum depth: 821.436425 meters looking forward 200.000000 meters along route # Maximum depth: 824.254354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 721.436425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.651963; captureRadius = 10; duration = 51; initialDepth = 721.436425; finalDepth = 722.428341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.854395 # Altitude Set: 100 # Vehicle Depth:721.436425 # Seafloor Depth:-822.290820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.117170 meters # Minimum depth: 820.104933 meters looking forward 200.000000 meters along route # Maximum depth: 823.176620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.104933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801747; longitude = -118.651502; captureRadius = 10; duration = 58; initialDepth = 720.104933; finalDepth = 721.436425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.983658 # Altitude Set: 100 # Vehicle Depth:720.104933 # Seafloor Depth:-821.088591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 60.239367 meters # Minimum depth: 819.802142 meters looking forward 200.000000 meters along route # Maximum depth: 822.541688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 719.802142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801451; longitude = -118.650983; captureRadius = 10; duration = 60; initialDepth = 719.802142; finalDepth = 720.104933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.983658 # Altitude Set: 100 # Vehicle Depth:719.802142 # Seafloor Depth:-819.998688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 55.995349 meters # Minimum depth: 819.802142 meters looking forward 200.000000 meters along route # Maximum depth: 821.463490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 719.802142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801145; longitude = -118.650445; captureRadius = 10; duration = 55; initialDepth = 719.802142; finalDepth = 719.802142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.196546 # Altitude Set: 100 # Vehicle Depth:719.802142 # Seafloor Depth:-819.979154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.117545 meters # Minimum depth: 819.802142 meters looking forward 200.000000 meters along route # Maximum depth: 820.291328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 719.802142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800861; longitude = -118.649946; captureRadius = 10; duration = 58; initialDepth = 719.802142; finalDepth = 719.802142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.348711 # Altitude Set: 100 # Vehicle Depth:719.802142 # Seafloor Depth:-820.150853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.117670 meters # Minimum depth: 819.802142 meters looking forward 200.000000 meters along route # Maximum depth: 820.861461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 719.802142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800566; longitude = -118.649427; captureRadius = 10; duration = 58; initialDepth = 719.802142; finalDepth = 719.802142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.453278 # Altitude Set: 100 # Vehicle Depth:719.802142 # Seafloor Depth:-820.255420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 65.921608 meters # Minimum depth: 820.095069 meters looking forward 200.000000 meters along route # Maximum depth: 821.212011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.095069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800270; longitude = -118.648909; captureRadius = 10; duration = 65; initialDepth = 720.095069; finalDepth = 719.802142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.810826 # Altitude Set: 100 # Vehicle Depth:720.095069 # Seafloor Depth:-820.905895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.314107 meters # Minimum depth: 820.162804 meters looking forward 200.000000 meters along route # Maximum depth: 821.212011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.162804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.648321; captureRadius = 10; duration = 50; initialDepth = 720.162804; finalDepth = 720.095069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.905265 # Altitude Set: 100 # Vehicle Depth:720.162804 # Seafloor Depth:-821.068069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118045 meters # Minimum depth: 813.177659 meters looking forward 200.000000 meters along route # Maximum depth: 821.212011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 713.177659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799680; longitude = -118.647872; captureRadius = 10; duration = 58; initialDepth = 713.177659; finalDepth = 720.162804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.72928 # Altitude Set: 100 # Vehicle Depth:713.177659 # Seafloor Depth:-819.906939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 61.677826 meters # Minimum depth: 807.119016 meters looking forward 200.000000 meters along route # Maximum depth: 821.212011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.119016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799385; longitude = -118.647353; captureRadius = 10; duration = 61; initialDepth = 707.119016; finalDepth = 713.177659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.72928 # Altitude Set: 100 # Vehicle Depth:707.119016 # Seafloor Depth:-812.227511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.558639 meters # Minimum depth: 807.119016 meters looking forward 200.000000 meters along route # Maximum depth: 820.825425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.119016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.646803; captureRadius = 10; duration = 54; initialDepth = 707.119016; finalDepth = 707.119016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.108495 # Altitude Set: 100 # Vehicle Depth:707.119016 # Seafloor Depth:-807.139424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118420 meters # Minimum depth: 807.119016 meters looking forward 200.000000 meters along route # Maximum depth: 821.290480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.119016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798794; longitude = -118.646316; captureRadius = 10; duration = 58; initialDepth = 707.119016; finalDepth = 707.119016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.602666 # Altitude Set: 100 # Vehicle Depth:707.119016 # Seafloor Depth:-812.721682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118544 meters # Minimum depth: 807.119016 meters looking forward 200.000000 meters along route # Maximum depth: 826.173578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.119016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798499; longitude = -118.645797; captureRadius = 10; duration = 58; initialDepth = 707.119016; finalDepth = 707.119016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 115.495925 # Altitude Set: 100 # Vehicle Depth:707.119016 # Seafloor Depth:-822.614941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118670 meters # Minimum depth: 809.462896 meters looking forward 200.000000 meters along route # Maximum depth: 827.280690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 709.462896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798203; longitude = -118.645279; captureRadius = 10; duration = 58; initialDepth = 709.462896; finalDepth = 707.119016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.737681 # Altitude Set: 100 # Vehicle Depth:709.462896 # Seafloor Depth:-826.200577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118795 meters # Minimum depth: 820.023725 meters looking forward 200.000000 meters along route # Maximum depth: 829.234361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.023725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797908; longitude = -118.644760; captureRadius = 10; duration = 58; initialDepth = 720.023725; finalDepth = 709.462896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.737681 # Altitude Set: 100 # Vehicle Depth:720.023725 # Seafloor Depth:-827.950838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.118919 meters # Minimum depth: 825.350094 meters looking forward 200.000000 meters along route # Maximum depth: 830.881178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.350094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797613; longitude = -118.644242; captureRadius = 10; duration = 58; initialDepth = 725.350094; finalDepth = 720.023725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.927113 # Altitude Set: 100 # Vehicle Depth:725.350094 # Seafloor Depth:-829.453556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 63.116330 meters # Minimum depth: 827.280690 meters looking forward 200.000000 meters along route # Maximum depth: 832.636606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 727.280690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797318; longitude = -118.643723; captureRadius = 10; duration = 63; initialDepth = 727.280690; finalDepth = 725.350094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.103462 # Altitude Set: 100 # Vehicle Depth:727.28069 # Seafloor Depth:-831.053973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.121884 meters # Minimum depth: 829.160253 meters looking forward 200.000000 meters along route # Maximum depth: 833.294064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.160253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.643160; captureRadius = 10; duration = 53; initialDepth = 729.160253; finalDepth = 727.280690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.773283 # Altitude Set: 100 # Vehicle Depth:729.160253 # Seafloor Depth:-832.720877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.119295 meters # Minimum depth: 830.373807 meters looking forward 200.000000 meters along route # Maximum depth: 834.991456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 730.373807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796727; longitude = -118.642686; captureRadius = 10; duration = 58; initialDepth = 730.373807; finalDepth = 729.160253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.560624 # Altitude Set: 100 # Vehicle Depth:730.373807 # Seafloor Depth:-833.662187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.872440 meters # Minimum depth: 832.241404 meters looking forward 200.000000 meters along route # Maximum depth: 837.970510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 732.241404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796432; longitude = -118.642167; captureRadius = 10; duration = 58; initialDepth = 732.241404; finalDepth = 730.373807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.28838 # Altitude Set: 100 # Vehicle Depth:732.241404 # Seafloor Depth:-835.344333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 57.366524 meters # Minimum depth: 833.288535 meters looking forward 200.000000 meters along route # Maximum depth: 840.293766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 733.288535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796133; longitude = -118.641642; captureRadius = 10; duration = 57; initialDepth = 733.288535; finalDepth = 732.241404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.724338 # Altitude Set: 100 # Vehicle Depth:733.288535 # Seafloor Depth:-838.012873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.119669 meters # Minimum depth: 834.641603 meters looking forward 200.000000 meters along route # Maximum depth: 845.144509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.641603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795841; longitude = -118.641130; captureRadius = 10; duration = 58; initialDepth = 734.641603; finalDepth = 733.288535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.089008 # Altitude Set: 100 # Vehicle Depth:734.641603 # Seafloor Depth:-841.730611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.119795 meters # Minimum depth: 836.943107 meters looking forward 200.000000 meters along route # Maximum depth: 851.070132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.943107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795546; longitude = -118.640612; captureRadius = 10; duration = 58; initialDepth = 736.943107; finalDepth = 734.641603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.264403 # Altitude Set: 100 # Vehicle Depth:736.943107 # Seafloor Depth:-846.207510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 64.554877 meters # Minimum depth: 841.730611 meters looking forward 200.000000 meters along route # Maximum depth: 855.574709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.730611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795251; longitude = -118.640093; captureRadius = 10; duration = 64; initialDepth = 741.730611; finalDepth = 736.943107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.626862 # Altitude Set: 100 # Vehicle Depth:741.730611 # Seafloor Depth:-851.357473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 51.685086 meters # Minimum depth: 844.644482 meters looking forward 200.000000 meters along route # Maximum depth: 858.687141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.644482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.639517; captureRadius = 10; duration = 51; initialDepth = 744.644482; finalDepth = 741.730611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.45249 # Altitude Set: 100 # Vehicle Depth:744.644482 # Seafloor Depth:-856.096972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.120170 meters # Minimum depth: 849.753782 meters looking forward 200.000000 meters along route # Maximum depth: 863.253367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.753782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794660; longitude = -118.639056; captureRadius = 10; duration = 58; initialDepth = 749.753782; finalDepth = 744.644482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.45249 # Altitude Set: 100 # Vehicle Depth:749.753782 # Seafloor Depth:-859.889278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 60.310932 meters # Minimum depth: 854.029177 meters looking forward 200.000000 meters along route # Maximum depth: 867.206794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.029177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794365; longitude = -118.638538; captureRadius = 10; duration = 60; initialDepth = 754.029177; finalDepth = 749.753782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.135496 # Altitude Set: 100 # Vehicle Depth:754.029177 # Seafloor Depth:-863.930543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 55.929781 meters # Minimum depth: 858.567339 meters looking forward 200.000000 meters along route # Maximum depth: 867.740345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.567339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794059; longitude = -118.638000; captureRadius = 10; duration = 55; initialDepth = 758.567339; finalDepth = 754.029177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.901366 # Altitude Set: 100 # Vehicle Depth:758.567339 # Seafloor Depth:-867.259831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.120545 meters # Minimum depth: 862.248114 meters looking forward 200.000000 meters along route # Maximum depth: 868.103264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.248114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793774; longitude = -118.637500; captureRadius = 10; duration = 58; initialDepth = 762.248114; finalDepth = 758.567339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.692492 # Altitude Set: 100 # Vehicle Depth:762.248114 # Seafloor Depth:-867.818697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 58.120669 meters # Minimum depth: 866.548317 meters looking forward 200.000000 meters along route # Maximum depth: 868.513585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.548317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793479; longitude = -118.636982; captureRadius = 10; duration = 58; initialDepth = 766.548317; finalDepth = 762.248114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.570583 # Altitude Set: 100 # Vehicle Depth:766.548317 # Seafloor Depth:-868.219426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 65.993467 meters # Minimum depth: 867.818697 meters looking forward 200.000000 meters along route # Maximum depth: 868.513585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.818697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793184; longitude = -118.636463; captureRadius = 10; duration = 65; initialDepth = 767.818697; finalDepth = 766.548317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.671109 # Altitude Set: 100 # Vehicle Depth:767.818697 # Seafloor Depth:-868.376938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.706134 meters # Minimum depth: 868.103264 meters looking forward 200.000000 meters along route # Maximum depth: 868.745398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.103264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792849; longitude = -118.635875; captureRadius = 10; duration = 56; initialDepth = 768.103264; finalDepth = 767.818697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.558241 # Altitude Set: 100 # Vehicle Depth:768.103264 # Seafloor Depth:-868.400380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 9.694294 meters # Minimum depth: 868.219426 meters looking forward 200.000000 meters along route # Maximum depth: 868.801544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.219426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792560; longitude = -118.635369; captureRadius = 10; duration = 9; initialDepth = 768.219426; finalDepth = 768.103264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.487605 # Altitude Set: 100 # Vehicle Depth:768.219426 # Seafloor Depth:-868.707031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 58.165816 meters # Minimum depth: 868.227319 meters looking forward 200.000000 meters along route # Maximum depth: 868.805697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.227319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792487; longitude = -118.635426; captureRadius = 10; duration = 58; initialDepth = 768.227319; finalDepth = 768.219426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.578378 # Altitude Set: 100 # Vehicle Depth:768.227319 # Seafloor Depth:-868.805697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 58.165911 meters # Minimum depth: 867.940253 meters looking forward 200.000000 meters along route # Maximum depth: 868.805697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.940253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792050; longitude = -118.635772; captureRadius = 10; duration = 58; initialDepth = 767.940253; finalDepth = 768.227319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.578378 # Altitude Set: 100 # Vehicle Depth:767.940253 # Seafloor Depth:-868.141067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 65.309204 meters # Minimum depth: 867.940253 meters looking forward 200.000000 meters along route # Maximum depth: 868.805697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.940253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791612; longitude = -118.636118; captureRadius = 10; duration = 65; initialDepth = 767.940253; finalDepth = 767.940253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.22938 # Altitude Set: 100 # Vehicle Depth:767.940253 # Seafloor Depth:-868.169633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 51.022898 meters # Minimum depth: 867.940253 meters looking forward 200.000000 meters along route # Maximum depth: 868.379032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.940253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791120; longitude = -118.636506; captureRadius = 10; duration = 51; initialDepth = 767.940253; finalDepth = 767.940253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.430097 # Altitude Set: 100 # Vehicle Depth:767.940253 # Seafloor Depth:-868.370350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 63.778725 meters # Minimum depth: 867.361803 meters looking forward 200.000000 meters along route # Maximum depth: 868.379032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.361803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790736; longitude = -118.636809; captureRadius = 10; duration = 63; initialDepth = 767.361803; finalDepth = 767.940253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.790751 # Altitude Set: 100 # Vehicle Depth:767.361803 # Seafloor Depth:-868.152554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 68.881149 meters # Minimum depth: 867.318261 meters looking forward 200.000000 meters along route # Maximum depth: 868.379032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.318261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790256; longitude = -118.637188; captureRadius = 10; duration = 68; initialDepth = 767.318261; finalDepth = 767.361803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.790751 # Altitude Set: 100 # Vehicle Depth:767.318261 # Seafloor Depth:-867.318261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 61.227799 meters # Minimum depth: 866.926336 meters looking forward 200.000000 meters along route # Maximum depth: 868.206446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.926336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789737; longitude = -118.637598; captureRadius = 10; duration = 61; initialDepth = 766.926336; finalDepth = 767.318261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.36402 # Altitude Set: 100 # Vehicle Depth:766.926336 # Seafloor Depth:-867.290356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 45.343782 meters # Minimum depth: 866.750091 meters looking forward 200.000000 meters along route # Maximum depth: 867.572623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.750091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789276; longitude = -118.637961; captureRadius = 10; duration = 45; initialDepth = 766.750091; finalDepth = 766.926336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.36402 # Altitude Set: 100 # Vehicle Depth:766.750091 # Seafloor Depth:-866.906820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.299035 meters # Minimum depth: 866.021325 meters looking forward 200.000000 meters along route # Maximum depth: 867.446408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.021325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789508; longitude = -118.638365; captureRadius = 10; duration = 58; initialDepth = 766.021325; finalDepth = 766.750091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.581453 # Altitude Set: 100 # Vehicle Depth:766.021325 # Seafloor Depth:-866.602778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298910 meters # Minimum depth: 864.933888 meters looking forward 200.000000 meters along route # Maximum depth: 866.942304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.933888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789806; longitude = -118.638883; captureRadius = 10; duration = 58; initialDepth = 764.933888; finalDepth = 766.021325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.94985 # Altitude Set: 100 # Vehicle Depth:764.933888 # Seafloor Depth:-865.883738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 63.426912 meters # Minimum depth: 863.893726 meters looking forward 200.000000 meters along route # Maximum depth: 866.750091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.893726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790104; longitude = -118.639402; captureRadius = 10; duration = 63; initialDepth = 763.893726; finalDepth = 764.933888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.94985 # Altitude Set: 100 # Vehicle Depth:763.893726 # Seafloor Depth:-864.822958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.170530 meters # Minimum depth: 863.711113 meters looking forward 200.000000 meters along route # Maximum depth: 866.086752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.711113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790429; longitude = -118.639966; captureRadius = 10; duration = 53; initialDepth = 763.711113; finalDepth = 763.893726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.929232 # Altitude Set: 100 # Vehicle Depth:763.711113 # Seafloor Depth:-863.870522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298533 meters # Minimum depth: 863.133995 meters looking forward 200.000000 meters along route # Maximum depth: 865.346038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.133995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790700; longitude = -118.640439; captureRadius = 10; duration = 58; initialDepth = 763.133995; finalDepth = 763.711113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.345397 # Altitude Set: 100 # Vehicle Depth:763.133995 # Seafloor Depth:-863.479392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298407 meters # Minimum depth: 862.546529 meters looking forward 200.000000 meters along route # Maximum depth: 864.101501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.546529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790999; longitude = -118.640958; captureRadius = 10; duration = 58; initialDepth = 762.546529; finalDepth = 763.133995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.535451 # Altitude Set: 100 # Vehicle Depth:762.546529 # Seafloor Depth:-863.081980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298281 meters # Minimum depth: 862.117492 meters looking forward 200.000000 meters along route # Maximum depth: 863.711657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.117492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791297; longitude = -118.641476; captureRadius = 10; duration = 58; initialDepth = 762.117492; finalDepth = 762.546529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.535451 # Altitude Set: 100 # Vehicle Depth:762.117492 # Seafloor Depth:-862.536171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298155 meters # Minimum depth: 861.229672 meters looking forward 200.000000 meters along route # Maximum depth: 863.173899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.229672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791595; longitude = -118.641995; captureRadius = 10; duration = 58; initialDepth = 761.229672; finalDepth = 762.117492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.662642 # Altitude Set: 100 # Vehicle Depth:761.229672 # Seafloor Depth:-861.892314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.298029 meters # Minimum depth: 860.468857 meters looking forward 200.000000 meters along route # Maximum depth: 862.740711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.468857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791893; longitude = -118.642513; captureRadius = 10; duration = 58; initialDepth = 760.468857; finalDepth = 761.229672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.662642 # Altitude Set: 100 # Vehicle Depth:760.468857 # Seafloor Depth:-861.043143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 60.996877 meters # Minimum depth: 859.350564 meters looking forward 200.000000 meters along route # Maximum depth: 862.117492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.350564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792191; longitude = -118.643032; captureRadius = 10; duration = 60; initialDepth = 759.350564; finalDepth = 760.468857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.004122 # Altitude Set: 100 # Vehicle Depth:759.350564 # Seafloor Depth:-860.354686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 55.598804 meters # Minimum depth: 859.165063 meters looking forward 200.000000 meters along route # Maximum depth: 861.265989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.165063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792503; longitude = -118.643574; captureRadius = 10; duration = 55; initialDepth = 759.165063; finalDepth = 759.350564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.004122 # Altitude Set: 100 # Vehicle Depth:759.165063 # Seafloor Depth:-859.337891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.297652 meters # Minimum depth: 858.164064 meters looking forward 200.000000 meters along route # Maximum depth: 860.708495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.164064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792787; longitude = -118.644069; captureRadius = 10; duration = 58; initialDepth = 758.164064; finalDepth = 759.165063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.658874 # Altitude Set: 100 # Vehicle Depth:758.164064 # Seafloor Depth:-858.822938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.297526 meters # Minimum depth: 857.337832 meters looking forward 200.000000 meters along route # Maximum depth: 859.530130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.337832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793085; longitude = -118.644587; captureRadius = 10; duration = 58; initialDepth = 757.337832; finalDepth = 758.164064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.69716 # Altitude Set: 100 # Vehicle Depth:757.337832 # Seafloor Depth:-858.034992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 64.437513 meters # Minimum depth: 856.193087 meters looking forward 200.000000 meters along route # Maximum depth: 858.822938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.193087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793383; longitude = -118.645106; captureRadius = 10; duration = 64; initialDepth = 756.193087; finalDepth = 757.337832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.096477 # Altitude Set: 100 # Vehicle Depth:756.193087 # Seafloor Depth:-857.289564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 52.157163 meters # Minimum depth: 855.138997 meters looking forward 200.000000 meters along route # Maximum depth: 858.244484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.138997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793713; longitude = -118.645679; captureRadius = 10; duration = 52; initialDepth = 755.138997; finalDepth = 756.193087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.096477 # Altitude Set: 100 # Vehicle Depth:755.138997 # Seafloor Depth:-856.083089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.297149 meters # Minimum depth: 852.742196 meters looking forward 200.000000 meters along route # Maximum depth: 857.604919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.742196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793980; longitude = -118.646143; captureRadius = 10; duration = 58; initialDepth = 752.742196; finalDepth = 755.138997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.569946 # Altitude Set: 100 # Vehicle Depth:752.742196 # Seafloor Depth:-854.312142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.566916 meters # Minimum depth: 851.348379 meters looking forward 200.000000 meters along route # Maximum depth: 856.582787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.348379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794278; longitude = -118.646662; captureRadius = 10; duration = 58; initialDepth = 751.348379; finalDepth = 752.742196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.569946 # Altitude Set: 100 # Vehicle Depth:751.348379 # Seafloor Depth:-852.617012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.027004 meters # Minimum depth: 850.785777 meters looking forward 200.000000 meters along route # Maximum depth: 855.177221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.785777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.647183; captureRadius = 10; duration = 58; initialDepth = 750.785777; finalDepth = 751.348379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.268633 # Altitude Set: 100 # Vehicle Depth:750.785777 # Seafloor Depth:-851.341278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.296772 meters # Minimum depth: 850.081923 meters looking forward 200.000000 meters along route # Maximum depth: 852.960603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.081923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794874; longitude = -118.647699; captureRadius = 10; duration = 58; initialDepth = 750.081923; finalDepth = 750.785777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.595533 # Altitude Set: 100 # Vehicle Depth:750.081923 # Seafloor Depth:-850.677456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.296646 meters # Minimum depth: 849.262274 meters looking forward 200.000000 meters along route # Maximum depth: 851.876354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.262274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795172; longitude = -118.648217; captureRadius = 10; duration = 58; initialDepth = 749.262274; finalDepth = 750.081923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.6057 # Altitude Set: 100 # Vehicle Depth:749.262274 # Seafloor Depth:-849.867974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 62.007521 meters # Minimum depth: 849.104498 meters looking forward 200.000000 meters along route # Maximum depth: 850.785777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.104498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795470; longitude = -118.648736; captureRadius = 10; duration = 62; initialDepth = 749.104498; finalDepth = 749.262274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.6057 # Altitude Set: 100 # Vehicle Depth:749.104498 # Seafloor Depth:-849.177183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 54.585393 meters # Minimum depth: 849.104498 meters looking forward 200.000000 meters along route # Maximum depth: 850.705612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.104498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.649287; captureRadius = 10; duration = 54; initialDepth = 749.104498; finalDepth = 749.104498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.880793 # Altitude Set: 100 # Vehicle Depth:749.104498 # Seafloor Depth:-849.985291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.296269 meters # Minimum depth: 849.104498 meters looking forward 200.000000 meters along route # Maximum depth: 851.151984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.104498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796066; longitude = -118.649773; captureRadius = 10; duration = 58; initialDepth = 749.104498; finalDepth = 749.104498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.856333 # Altitude Set: 100 # Vehicle Depth:749.104498 # Seafloor Depth:-850.960831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.296142 meters # Minimum depth: 849.403794 meters looking forward 200.000000 meters along route # Maximum depth: 851.151984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.403794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796364; longitude = -118.650292; captureRadius = 10; duration = 58; initialDepth = 749.403794; finalDepth = 749.104498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.856333 # Altitude Set: 100 # Vehicle Depth:749.403794 # Seafloor Depth:-851.004729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 65.448067 meters # Minimum depth: 850.262537 meters looking forward 200.000000 meters along route # Maximum depth: 851.151984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.262537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796662; longitude = -118.650810; captureRadius = 10; duration = 65; initialDepth = 750.262537; finalDepth = 749.403794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.600935 # Altitude Set: 100 # Vehicle Depth:750.262537 # Seafloor Depth:-850.512252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 51.143842 meters # Minimum depth: 850.161057 meters looking forward 200.000000 meters along route # Maximum depth: 851.143023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.161057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.651392; captureRadius = 10; duration = 51; initialDepth = 750.161057; finalDepth = 750.262537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.249715 # Altitude Set: 100 # Vehicle Depth:750.161057 # Seafloor Depth:-850.198469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.295766 meters # Minimum depth: 850.161057 meters looking forward 200.000000 meters along route # Maximum depth: 851.034662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.161057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797259; longitude = -118.651847; captureRadius = 10; duration = 58; initialDepth = 750.161057; finalDepth = 750.161057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.493458 # Altitude Set: 100 # Vehicle Depth:750.161057 # Seafloor Depth:-850.654515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.577602 meters # Minimum depth: 850.161057 meters looking forward 200.000000 meters along route # Maximum depth: 851.402359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.161057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797557; longitude = -118.652366; captureRadius = 10; duration = 59; initialDepth = 750.161057; finalDepth = 750.161057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.916094 # Altitude Set: 100 # Vehicle Depth:750.161057 # Seafloor Depth:-851.077151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 57.013552 meters # Minimum depth: 850.325244 meters looking forward 200.000000 meters along route # Maximum depth: 851.443020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.325244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.652896; captureRadius = 10; duration = 57; initialDepth = 750.325244; finalDepth = 750.161057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.073273 # Altitude Set: 100 # Vehicle Depth:750.325244 # Seafloor Depth:-851.398517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.295388 meters # Minimum depth: 850.971830 meters looking forward 200.000000 meters along route # Maximum depth: 851.757697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.971830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798153; longitude = -118.653403; captureRadius = 10; duration = 58; initialDepth = 750.971830; finalDepth = 750.325244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.073273 # Altitude Set: 100 # Vehicle Depth:750.97183 # Seafloor Depth:-851.434880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.295263 meters # Minimum depth: 851.317267 meters looking forward 200.000000 meters along route # Maximum depth: 852.735783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.317267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798451; longitude = -118.653921; captureRadius = 10; duration = 58; initialDepth = 751.317267; finalDepth = 750.971830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.618129 # Altitude Set: 100 # Vehicle Depth:751.317267 # Seafloor Depth:-851.935396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 63.018117 meters # Minimum depth: 851.402093 meters looking forward 200.000000 meters along route # Maximum depth: 853.130798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.402093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798749; longitude = -118.654440; captureRadius = 10; duration = 63; initialDepth = 751.402093; finalDepth = 751.317267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.442718 # Altitude Set: 100 # Vehicle Depth:751.402093 # Seafloor Depth:-852.844811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.572031 meters # Minimum depth: 851.697023 meters looking forward 200.000000 meters along route # Maximum depth: 853.413433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.697023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.655001; captureRadius = 10; duration = 53; initialDepth = 751.697023; finalDepth = 751.402093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.442718 # Altitude Set: 100 # Vehicle Depth:751.697023 # Seafloor Depth:-853.111872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.294885 meters # Minimum depth: 852.397627 meters looking forward 200.000000 meters along route # Maximum depth: 854.388789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.397627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799345; longitude = -118.655477; captureRadius = 10; duration = 58; initialDepth = 752.397627; finalDepth = 751.697023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.414849 # Altitude Set: 100 # Vehicle Depth:752.397627 # Seafloor Depth:-853.666955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.294760 meters # Minimum depth: 853.093322 meters looking forward 200.000000 meters along route # Maximum depth: 855.085966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.093322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799643; longitude = -118.655996; captureRadius = 10; duration = 58; initialDepth = 753.093322; finalDepth = 752.397627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.41191 # Altitude Set: 100 # Vehicle Depth:753.093322 # Seafloor Depth:-854.505232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 66.458572 meters # Minimum depth: 853.666955 meters looking forward 200.000000 meters along route # Maximum depth: 855.269601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.666955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799941; longitude = -118.656514; captureRadius = 10; duration = 66; initialDepth = 753.666955; finalDepth = 753.093322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.438852 # Altitude Set: 100 # Vehicle Depth:753.666955 # Seafloor Depth:-855.105807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.130570 meters # Minimum depth: 854.249728 meters looking forward 200.000000 meters along route # Maximum depth: 855.357884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.249728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.657105; captureRadius = 10; duration = 50; initialDepth = 754.249728; finalDepth = 753.666955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.438852 # Altitude Set: 100 # Vehicle Depth:754.249728 # Seafloor Depth:-855.127168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.294383 meters # Minimum depth: 854.821871 meters looking forward 200.000000 meters along route # Maximum depth: 856.201460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.821871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800538; longitude = -118.657551; captureRadius = 10; duration = 58; initialDepth = 754.821871; finalDepth = 754.249728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.87744 # Altitude Set: 100 # Vehicle Depth:754.821871 # Seafloor Depth:-855.544723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 60.588241 meters # Minimum depth: 855.097929 meters looking forward 200.000000 meters along route # Maximum depth: 856.459888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.097929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800836; longitude = -118.658070; captureRadius = 10; duration = 60; initialDepth = 755.097929; finalDepth = 754.821871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.10658 # Altitude Set: 100 # Vehicle Depth:755.097929 # Seafloor Depth:-856.204509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.000147 meters # Minimum depth: 855.330456 meters looking forward 200.000000 meters along route # Maximum depth: 856.505830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.330456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801145; longitude = -118.658609; captureRadius = 10; duration = 56; initialDepth = 755.330456; finalDepth = 755.097929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.129201 # Altitude Set: 100 # Vehicle Depth:755.330456 # Seafloor Depth:-856.459657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.294006 meters # Minimum depth: 856.131754 meters looking forward 200.000000 meters along route # Maximum depth: 857.284992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.131754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801432; longitude = -118.659107; captureRadius = 10; duration = 58; initialDepth = 756.131754; finalDepth = 755.330456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.129201 # Altitude Set: 100 # Vehicle Depth:756.131754 # Seafloor Depth:-856.572952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293879 meters # Minimum depth: 856.428265 meters looking forward 200.000000 meters along route # Maximum depth: 857.689834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.428265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801730; longitude = -118.659626; captureRadius = 10; duration = 58; initialDepth = 756.428265; finalDepth = 756.131754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.061082 # Altitude Set: 100 # Vehicle Depth:756.428265 # Seafloor Depth:-857.489347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 64.028666 meters # Minimum depth: 856.572952 meters looking forward 200.000000 meters along route # Maximum depth: 858.085531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.572952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802028; longitude = -118.660144; captureRadius = 10; duration = 64; initialDepth = 756.572952; finalDepth = 756.428265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.149819 # Altitude Set: 100 # Vehicle Depth:756.572952 # Seafloor Depth:-857.722771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 52.558717 meters # Minimum depth: 857.147825 meters looking forward 200.000000 meters along route # Maximum depth: 858.362719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.147825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.660714; captureRadius = 10; duration = 52; initialDepth = 757.147825; finalDepth = 756.572952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.149819 # Altitude Set: 100 # Vehicle Depth:757.147825 # Seafloor Depth:-858.123537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293502 meters # Minimum depth: 857.610271 meters looking forward 200.000000 meters along route # Maximum depth: 859.053918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.610271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802624; longitude = -118.661181; captureRadius = 10; duration = 58; initialDepth = 757.610271; finalDepth = 757.147825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.008982 # Altitude Set: 100 # Vehicle Depth:757.610271 # Seafloor Depth:-858.619253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293377 meters # Minimum depth: 857.983253 meters looking forward 200.000000 meters along route # Maximum depth: 859.764423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.983253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802922; longitude = -118.661700; captureRadius = 10; duration = 58; initialDepth = 757.983253; finalDepth = 757.610271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.141356 # Altitude Set: 100 # Vehicle Depth:757.983253 # Seafloor Depth:-859.124609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293252 meters # Minimum depth: 858.355165 meters looking forward 200.000000 meters along route # Maximum depth: 860.136005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.355165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.662218; captureRadius = 10; duration = 58; initialDepth = 758.355165; finalDepth = 757.983253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.410345 # Altitude Set: 100 # Vehicle Depth:758.355165 # Seafloor Depth:-859.765510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293125 meters # Minimum depth: 858.970298 meters looking forward 200.000000 meters along route # Maximum depth: 860.707117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.970298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803518; longitude = -118.662737; captureRadius = 10; duration = 58; initialDepth = 758.970298; finalDepth = 758.355165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.410345 # Altitude Set: 100 # Vehicle Depth:758.970298 # Seafloor Depth:-860.363207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.293000 meters # Minimum depth: 859.601815 meters looking forward 200.000000 meters along route # Maximum depth: 861.648593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.601815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803817; longitude = -118.663255; captureRadius = 10; duration = 58; initialDepth = 759.601815; finalDepth = 758.970298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.392909 # Altitude Set: 100 # Vehicle Depth:759.601815 # Seafloor Depth:-860.782231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 61.598832 meters # Minimum depth: 860.136005 meters looking forward 200.000000 meters along route # Maximum depth: 862.612614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.136005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804115; longitude = -118.663774; captureRadius = 10; duration = 61; initialDepth = 760.136005; finalDepth = 759.601815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.589997 # Altitude Set: 100 # Vehicle Depth:760.136005 # Seafloor Depth:-861.726002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 54.986791 meters # Minimum depth: 860.678163 meters looking forward 200.000000 meters along route # Maximum depth: 863.155783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.678163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.664322; captureRadius = 10; duration = 54; initialDepth = 760.678163; finalDepth = 760.136005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.971366 # Altitude Set: 100 # Vehicle Depth:760.678163 # Seafloor Depth:-862.649529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.292622 meters # Minimum depth: 861.455462 meters looking forward 200.000000 meters along route # Maximum depth: 864.396037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.455462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804711; longitude = -118.664811; captureRadius = 10; duration = 58; initialDepth = 761.455462; finalDepth = 760.678163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.024772 # Altitude Set: 100 # Vehicle Depth:761.455462 # Seafloor Depth:-863.480234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.292498 meters # Minimum depth: 862.302708 meters looking forward 200.000000 meters along route # Maximum depth: 865.280587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.302708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805009; longitude = -118.665330; captureRadius = 10; duration = 58; initialDepth = 762.302708; finalDepth = 761.455462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.309656 # Altitude Set: 100 # Vehicle Depth:762.302708 # Seafloor Depth:-864.612364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 58.292371 meters # Minimum depth: 863.129654 meters looking forward 200.000000 meters along route # Maximum depth: 865.756879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.129654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805307; longitude = -118.665848; captureRadius = 10; duration = 58; initialDepth = 763.129654; finalDepth = 762.302708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.309656 # Altitude Set: 100 # Vehicle Depth:763.129654 # Seafloor Depth:-865.301232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 51.815336 meters # Minimum depth: 864.234087 meters looking forward 200.000000 meters along route # Maximum depth: 866.606161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.234087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805605; longitude = -118.666367; captureRadius = 10; duration = 51; initialDepth = 764.234087; finalDepth = 763.129654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.171578 # Altitude Set: 100 # Vehicle Depth:764.234087 # Seafloor Depth:-865.953972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 46.440966 meters # Minimum depth: 864.896897 meters looking forward 200.000000 meters along route # Maximum depth: 867.212598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.896897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805870; longitude = -118.666828; captureRadius = 10; duration = 46; initialDepth = 764.896897; finalDepth = 764.234087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.864333 # Altitude Set: 100 # Vehicle Depth:764.896897 # Seafloor Depth:-866.761230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709836 meters # Minimum depth: 865.526778 meters looking forward 200.000000 meters along route # Maximum depth: 867.980040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.526778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.666963; captureRadius = 10; duration = 59; initialDepth = 765.526778; finalDepth = 764.896897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.979772 # Altitude Set: 100 # Vehicle Depth:765.526778 # Seafloor Depth:-867.506550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709862 meters # Minimum depth: 866.230002 meters looking forward 200.000000 meters along route # Maximum depth: 868.403111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.230002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804948; longitude = -118.667136; captureRadius = 10; duration = 59; initialDepth = 766.230002; finalDepth = 765.526778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.979772 # Altitude Set: 100 # Vehicle Depth:766.230002 # Seafloor Depth:-867.962986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709886 meters # Minimum depth: 867.212598 meters looking forward 200.000000 meters along route # Maximum depth: 869.790460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.212598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.667309; captureRadius = 10; duration = 59; initialDepth = 767.212598; finalDepth = 766.230002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.732984 # Altitude Set: 100 # Vehicle Depth:767.212598 # Seafloor Depth:-868.923476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709912 meters # Minimum depth: 867.962986 meters looking forward 200.000000 meters along route # Maximum depth: 870.411841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.962986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.667483; captureRadius = 10; duration = 59; initialDepth = 767.962986; finalDepth = 767.212598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.970524 # Altitude Set: 100 # Vehicle Depth:767.962986 # Seafloor Depth:-869.933510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709938 meters # Minimum depth: 868.403111 meters looking forward 200.000000 meters along route # Maximum depth: 871.502390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.403111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.667656; captureRadius = 10; duration = 59; initialDepth = 768.403111; finalDepth = 767.962986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.402551 # Altitude Set: 100 # Vehicle Depth:768.403111 # Seafloor Depth:-870.805662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.709962 meters # Minimum depth: 869.790460 meters looking forward 200.000000 meters along route # Maximum depth: 872.558719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.790460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.667829; captureRadius = 10; duration = 59; initialDepth = 769.790460; finalDepth = 768.403111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.402551 # Altitude Set: 100 # Vehicle Depth:769.79046 # Seafloor Depth:-871.878709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 56.013438 meters # Minimum depth: 870.411841 meters looking forward 200.000000 meters along route # Maximum depth: 873.060141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 770.411841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.668003; captureRadius = 10; duration = 56; initialDepth = 770.411841; finalDepth = 769.790460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.363925 # Altitude Set: 100 # Vehicle Depth:770.411841 # Seafloor Depth:-872.775766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 11.428170 meters # Minimum depth: 870.805662 meters looking forward 200.000000 meters along route # Maximum depth: 873.272430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 770.805662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801869; longitude = -118.668166; captureRadius = 10; duration = 11; initialDepth = 770.805662; finalDepth = 770.411841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.466768 # Altitude Set: 100 # Vehicle Depth:770.805662 # Seafloor Depth:-873.272430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.255276 meters # Minimum depth: 871.878709 meters looking forward 200.000000 meters along route # Maximum depth: 873.272430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 771.878709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801954; longitude = -118.668095; captureRadius = 10; duration = 56; initialDepth = 771.878709; finalDepth = 770.805662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.466768 # Altitude Set: 100 # Vehicle Depth:771.878709 # Seafloor Depth:-873.085944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.255184 meters # Minimum depth: 871.615440 meters looking forward 200.000000 meters along route # Maximum depth: 873.272430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 771.615440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802371; longitude = -118.667750; captureRadius = 10; duration = 56; initialDepth = 771.615440; finalDepth = 771.878709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.207235 # Altitude Set: 100 # Vehicle Depth:771.61544 # Seafloor Depth:-872.399846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 58.226199 meters # Minimum depth: 869.943131 meters looking forward 200.000000 meters along route # Maximum depth: 873.272430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.943131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802788; longitude = -118.667404; captureRadius = 10; duration = 58; initialDepth = 769.943131; finalDepth = 771.615440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.371502 # Altitude Set: 100 # Vehicle Depth:769.943131 # Seafloor Depth:-871.314633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 54.283890 meters # Minimum depth: 868.867684 meters looking forward 200.000000 meters along route # Maximum depth: 872.762596 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.867684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.667046; captureRadius = 10; duration = 54; initialDepth = 768.867684; finalDepth = 769.943131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.371502 # Altitude Set: 100 # Vehicle Depth:768.867684 # Seafloor Depth:-869.900781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 62.274611 meters # Minimum depth: 867.493144 meters looking forward 200.000000 meters along route # Maximum depth: 871.615440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.493144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803622; longitude = -118.666712; captureRadius = 10; duration = 62; initialDepth = 767.493144; finalDepth = 768.867684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.182423 # Altitude Set: 100 # Vehicle Depth:767.493144 # Seafloor Depth:-868.675567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.235107 meters # Minimum depth: 866.796042 meters looking forward 200.000000 meters along route # Maximum depth: 870.599716 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.796042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804084; longitude = -118.666330; captureRadius = 10; duration = 50; initialDepth = 766.796042; finalDepth = 767.493144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.182423 # Altitude Set: 100 # Vehicle Depth:766.796042 # Seafloor Depth:-867.408756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.254719 meters # Minimum depth: 865.974063 meters looking forward 200.000000 meters along route # Maximum depth: 869.401201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.974063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804456; longitude = -118.666021; captureRadius = 10; duration = 56; initialDepth = 765.974063; finalDepth = 766.796042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.777169 # Altitude Set: 100 # Vehicle Depth:765.974063 # Seafloor Depth:-866.751232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.691405 meters # Minimum depth: 864.225644 meters looking forward 200.000000 meters along route # Maximum depth: 867.993412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.225644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804874; longitude = -118.665675; captureRadius = 10; duration = 56; initialDepth = 764.225644; finalDepth = 765.974063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.38809 # Altitude Set: 100 # Vehicle Depth:764.225644 # Seafloor Depth:-865.613734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 55.817756 meters # Minimum depth: 862.402266 meters looking forward 200.000000 meters along route # Maximum depth: 867.116722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.402266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805294; longitude = -118.665327; captureRadius = 10; duration = 55; initialDepth = 762.402266; finalDepth = 764.225644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.811279 # Altitude Set: 100 # Vehicle Depth:762.402266 # Seafloor Depth:-864.213545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 60.739788 meters # Minimum depth: 860.299365 meters looking forward 200.000000 meters along route # Maximum depth: 865.974063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.299365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805708; longitude = -118.664984; captureRadius = 10; duration = 60; initialDepth = 760.299365; finalDepth = 762.402266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.836944 # Altitude Set: 100 # Vehicle Depth:760.299365 # Seafloor Depth:-862.136309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 51.769002 meters # Minimum depth: 859.002496 meters looking forward 200.000000 meters along route # Maximum depth: 864.931916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.002496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.664611; captureRadius = 10; duration = 51; initialDepth = 759.002496; finalDepth = 760.299365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.836944 # Altitude Set: 100 # Vehicle Depth:759.002496 # Seafloor Depth:-860.224282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.254256 meters # Minimum depth: 857.921372 meters looking forward 200.000000 meters along route # Maximum depth: 863.172460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.921372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806542; longitude = -118.664293; captureRadius = 10; duration = 56; initialDepth = 757.921372; finalDepth = 759.002496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.221786 # Altitude Set: 100 # Vehicle Depth:757.921372 # Seafloor Depth:-858.845335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.254163 meters # Minimum depth: 857.058056 meters looking forward 200.000000 meters along route # Maximum depth: 861.134705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.058056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806959; longitude = -118.663947; captureRadius = 10; duration = 56; initialDepth = 757.058056; finalDepth = 757.921372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.923963 # Altitude Set: 100 # Vehicle Depth:757.058056 # Seafloor Depth:-857.784147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.254070 meters # Minimum depth: 855.793865 meters looking forward 200.000000 meters along route # Maximum depth: 859.732513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.793865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807376; longitude = -118.663601; captureRadius = 10; duration = 56; initialDepth = 755.793865; finalDepth = 757.058056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.242044 # Altitude Set: 100 # Vehicle Depth:755.793865 # Seafloor Depth:-857.035909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.204991 meters # Minimum depth: 854.420964 meters looking forward 200.000000 meters along route # Maximum depth: 858.122512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.420964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807793; longitude = -118.663255; captureRadius = 10; duration = 59; initialDepth = 754.420964; finalDepth = 755.793865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.242044 # Altitude Set: 100 # Vehicle Depth:754.420964 # Seafloor Depth:-855.492522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.302871 meters # Minimum depth: 853.464412 meters looking forward 200.000000 meters along route # Maximum depth: 857.507242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.464412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808232; longitude = -118.662892; captureRadius = 10; duration = 53; initialDepth = 753.464412; finalDepth = 754.420964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.071558 # Altitude Set: 100 # Vehicle Depth:753.464412 # Seafloor Depth:-854.365078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.253792 meters # Minimum depth: 853.409591 meters looking forward 200.000000 meters along route # Maximum depth: 856.293868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.409591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808628; longitude = -118.662564; captureRadius = 10; duration = 56; initialDepth = 753.409591; finalDepth = 753.464412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.900666 # Altitude Set: 100 # Vehicle Depth:753.409591 # Seafloor Depth:-853.409591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.253699 meters # Minimum depth: 852.669226 meters looking forward 200.000000 meters along route # Maximum depth: 854.900378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.669226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809045; longitude = -118.662218; captureRadius = 10; duration = 56; initialDepth = 752.669226; finalDepth = 753.409591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.927548 # Altitude Set: 100 # Vehicle Depth:752.669226 # Seafloor Depth:-853.596774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.253607 meters # Minimum depth: 851.720080 meters looking forward 200.000000 meters along route # Maximum depth: 853.827661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.720080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809462; longitude = -118.661873; captureRadius = 10; duration = 56; initialDepth = 751.720080; finalDepth = 752.669226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.927548 # Altitude Set: 100 # Vehicle Depth:751.72008 # Seafloor Depth:-852.601867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 57.670218 meters # Minimum depth: 851.720080 meters looking forward 200.000000 meters along route # Maximum depth: 853.596774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.720080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809879; longitude = -118.661527; captureRadius = 10; duration = 57; initialDepth = 751.720080; finalDepth = 751.720080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.881787 # Altitude Set: 100 # Vehicle Depth:751.72008 # Seafloor Depth:-851.787581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 54.836716 meters # Minimum depth: 851.720080 meters looking forward 200.000000 meters along route # Maximum depth: 853.415007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.720080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810307; longitude = -118.661173; captureRadius = 10; duration = 54; initialDepth = 751.720080; finalDepth = 751.720080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.516537 # Altitude Set: 100 # Vehicle Depth:751.72008 # Seafloor Depth:-852.236617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 61.718518 meters # Minimum depth: 851.720080 meters looking forward 200.000000 meters along route # Maximum depth: 854.278574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.720080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810713; longitude = -118.660836; captureRadius = 10; duration = 61; initialDepth = 751.720080; finalDepth = 751.720080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.922094 # Altitude Set: 100 # Vehicle Depth:751.72008 # Seafloor Depth:-853.642174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.788045 meters # Minimum depth: 852.116284 meters looking forward 200.000000 meters along route # Maximum depth: 854.449597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.116284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.660456; captureRadius = 10; duration = 50; initialDepth = 752.116284; finalDepth = 751.720080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.164648 # Altitude Set: 100 # Vehicle Depth:752.116284 # Seafloor Depth:-854.280932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.253143 meters # Minimum depth: 852.676720 meters looking forward 200.000000 meters along route # Maximum depth: 854.449597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.676720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811547; longitude = -118.660144; captureRadius = 10; duration = 56; initialDepth = 752.676720; finalDepth = 752.116284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.164648 # Altitude Set: 100 # Vehicle Depth:752.67672 # Seafloor Depth:-854.440947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.253049 meters # Minimum depth: 854.198220 meters looking forward 200.000000 meters along route # Maximum depth: 854.508758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.198220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811965; longitude = -118.659798; captureRadius = 10; duration = 56; initialDepth = 754.198220; finalDepth = 752.676720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.764227 # Altitude Set: 100 # Vehicle Depth:754.19822 # Seafloor Depth:-854.434520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.252957 meters # Minimum depth: 854.363515 meters looking forward 200.000000 meters along route # Maximum depth: 854.964178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.363515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812382; longitude = -118.659453; captureRadius = 10; duration = 56; initialDepth = 754.363515; finalDepth = 754.198220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.2363 # Altitude Set: 100 # Vehicle Depth:754.363515 # Seafloor Depth:-854.509775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 60.183744 meters # Minimum depth: 854.413693 meters looking forward 200.000000 meters along route # Maximum depth: 854.964178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.413693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812799; longitude = -118.659107; captureRadius = 10; duration = 60; initialDepth = 754.413693; finalDepth = 754.363515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.534529 # Altitude Set: 100 # Vehicle Depth:754.413693 # Seafloor Depth:-854.948222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 52.321892 meters # Minimum depth: 854.375973 meters looking forward 200.000000 meters along route # Maximum depth: 854.964178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.375973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813245; longitude = -118.658737; captureRadius = 10; duration = 52; initialDepth = 754.375973; finalDepth = 754.413693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.534529 # Altitude Set: 100 # Vehicle Depth:754.375973 # Seafloor Depth:-854.425269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 64.231988 meters # Minimum depth: 854.157557 meters looking forward 200.000000 meters along route # Maximum depth: 854.964178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.157557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813633; longitude = -118.658416; captureRadius = 10; duration = 64; initialDepth = 754.157557; finalDepth = 754.375973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.14884 # Altitude Set: 100 # Vehicle Depth:754.157557 # Seafloor Depth:-854.306397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 69.932137 meters # Minimum depth: 853.833723 meters looking forward 200.000000 meters along route # Maximum depth: 854.465041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.833723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814109; longitude = -118.658021; captureRadius = 10; duration = 69; initialDepth = 753.833723; finalDepth = 754.157557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.445261 # Altitude Set: 100 # Vehicle Depth:753.833723 # Seafloor Depth:-854.278984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 51.102981 meters # Minimum depth: 852.434743 meters looking forward 200.000000 meters along route # Maximum depth: 854.375973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.434743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814628; longitude = -118.657591; captureRadius = 10; duration = 51; initialDepth = 752.434743; finalDepth = 753.833723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.013954 # Altitude Set: 100 # Vehicle Depth:752.434743 # Seafloor Depth:-853.448697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 8.037037 meters # Minimum depth: 852.134094 meters looking forward 200.000000 meters along route # Maximum depth: 854.375973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.134094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815007; longitude = -118.657277; captureRadius = 10; duration = 8; initialDepth = 752.134094; finalDepth = 752.434743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.013954 # Altitude Set: 100 # Vehicle Depth:752.134094 # Seafloor Depth:-852.134094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 65.822323 meters # Minimum depth: 851.611173 meters looking forward 200.000000 meters along route # Maximum depth: 854.278984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.611173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814966; longitude = -118.657206; captureRadius = 10; duration = 65; initialDepth = 751.611173; finalDepth = 752.134094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.585808 # Altitude Set: 100 # Vehicle Depth:751.611173 # Seafloor Depth:-852.196981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.931331 meters # Minimum depth: 851.611173 meters looking forward 200.000000 meters along route # Maximum depth: 853.857040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.611173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814628; longitude = -118.656621; captureRadius = 10; duration = 50; initialDepth = 751.611173; finalDepth = 751.611173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.585808 # Altitude Set: 100 # Vehicle Depth:751.611173 # Seafloor Depth:-851.962987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 58.377016 meters # Minimum depth: 850.899640 meters looking forward 200.000000 meters along route # Maximum depth: 852.765559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.899640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814367; longitude = -118.656169; captureRadius = 10; duration = 58; initialDepth = 750.899640; finalDepth = 751.611173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.823889 # Altitude Set: 100 # Vehicle Depth:750.89964 # Seafloor Depth:-851.723529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.147479 meters # Minimum depth: 850.268051 meters looking forward 200.000000 meters along route # Maximum depth: 852.120078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.268051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814067; longitude = -118.655650; captureRadius = 10; duration = 59; initialDepth = 750.268051; finalDepth = 750.899640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.823889 # Altitude Set: 100 # Vehicle Depth:750.268051 # Seafloor Depth:-850.806066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 57.684814 meters # Minimum depth: 849.886875 meters looking forward 200.000000 meters along route # Maximum depth: 852.120078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.886875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813764; longitude = -118.655125; captureRadius = 10; duration = 57; initialDepth = 749.886875; finalDepth = 750.268051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.538015 # Altitude Set: 100 # Vehicle Depth:749.886875 # Seafloor Depth:-850.274166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 30.020985 meters # Minimum depth: 849.820740 meters looking forward 200.000000 meters along route # Maximum depth: 851.443908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.820740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813468; longitude = -118.654612; captureRadius = 10; duration = 30; initialDepth = 749.820740; finalDepth = 749.886875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.387291 # Altitude Set: 100 # Vehicle Depth:749.82074 # Seafloor Depth:-849.820740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 54.468512 meters # Minimum depth: 849.820740 meters looking forward 200.000000 meters along route # Maximum depth: 851.614351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.820740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813245; longitude = -118.654797; captureRadius = 10; duration = 54; initialDepth = 749.820740; finalDepth = 749.820740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.449749 # Altitude Set: 100 # Vehicle Depth:749.82074 # Seafloor Depth:-850.270489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 62.087061 meters # Minimum depth: 849.820740 meters looking forward 200.000000 meters along route # Maximum depth: 853.083850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.820740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812841; longitude = -118.655131; captureRadius = 10; duration = 62; initialDepth = 749.820740; finalDepth = 749.820740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.025315 # Altitude Set: 100 # Vehicle Depth:749.82074 # Seafloor Depth:-851.846055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.415837 meters # Minimum depth: 849.820740 meters looking forward 200.000000 meters along route # Maximum depth: 853.625992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.820740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812381; longitude = -118.655513; captureRadius = 10; duration = 50; initialDepth = 749.820740; finalDepth = 749.820740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.331238 # Altitude Set: 100 # Vehicle Depth:749.82074 # Seafloor Depth:-853.151978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.251588 meters # Minimum depth: 850.905524 meters looking forward 200.000000 meters along route # Maximum depth: 853.750414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.905524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812007; longitude = -118.655823; captureRadius = 10; duration = 56; initialDepth = 750.905524; finalDepth = 749.820740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.331238 # Altitude Set: 100 # Vehicle Depth:750.905524 # Seafloor Depth:-853.657503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.511046 meters # Minimum depth: 852.609576 meters looking forward 200.000000 meters along route # Maximum depth: 853.750414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.609576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811590; longitude = -118.656169; captureRadius = 10; duration = 56; initialDepth = 752.609576; finalDepth = 750.905524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.751979 # Altitude Set: 100 # Vehicle Depth:752.609576 # Seafloor Depth:-853.698765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 55.992409 meters # Minimum depth: 853.373567 meters looking forward 200.000000 meters along route # Maximum depth: 853.821506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.373567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.656516; captureRadius = 10; duration = 55; initialDepth = 753.373567; finalDepth = 752.609576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.089189 # Altitude Set: 100 # Vehicle Depth:753.373567 # Seafloor Depth:-853.666390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 60.564119 meters # Minimum depth: 853.203423 meters looking forward 200.000000 meters along route # Maximum depth: 853.821506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.203423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810756; longitude = -118.656860; captureRadius = 10; duration = 60; initialDepth = 753.203423; finalDepth = 753.373567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.534701 # Altitude Set: 100 # Vehicle Depth:753.203423 # Seafloor Depth:-853.738124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 51.939706 meters # Minimum depth: 852.722539 meters looking forward 200.000000 meters along route # Maximum depth: 853.821506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.722539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810307; longitude = -118.657232; captureRadius = 10; duration = 51; initialDepth = 752.722539; finalDepth = 753.203423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.534701 # Altitude Set: 100 # Vehicle Depth:752.722539 # Seafloor Depth:-853.175550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252052 meters # Minimum depth: 851.821425 meters looking forward 200.000000 meters along route # Maximum depth: 853.821506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.821425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809921; longitude = -118.657551; captureRadius = 10; duration = 56; initialDepth = 751.821425; finalDepth = 752.722539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.833435 # Altitude Set: 100 # Vehicle Depth:751.821425 # Seafloor Depth:-852.654860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252145 meters # Minimum depth: 847.846377 meters looking forward 200.000000 meters along route # Maximum depth: 853.390063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.846377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809504; longitude = -118.657897; captureRadius = 10; duration = 56; initialDepth = 747.846377; finalDepth = 751.821425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.371784 # Altitude Set: 100 # Vehicle Depth:747.846377 # Seafloor Depth:-851.218161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252237 meters # Minimum depth: 844.517547 meters looking forward 200.000000 meters along route # Maximum depth: 852.977299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.517547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809087; longitude = -118.658243; captureRadius = 10; duration = 56; initialDepth = 744.517547; finalDepth = 747.846377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.371784 # Altitude Set: 100 # Vehicle Depth:744.517547 # Seafloor Depth:-847.762688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 59.041154 meters # Minimum depth: 840.644313 meters looking forward 200.000000 meters along route # Maximum depth: 852.207837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.644313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808670; longitude = -118.658588; captureRadius = 10; duration = 59; initialDepth = 740.644313; finalDepth = 744.517547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.245141 # Altitude Set: 100 # Vehicle Depth:740.644313 # Seafloor Depth:-843.662380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.463599 meters # Minimum depth: 839.508946 meters looking forward 200.000000 meters along route # Maximum depth: 849.682183 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.508946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808232; longitude = -118.658951; captureRadius = 10; duration = 53; initialDepth = 739.508946; finalDepth = 740.644313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.018067 # Altitude Set: 100 # Vehicle Depth:739.508946 # Seafloor Depth:-840.555324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252516 meters # Minimum depth: 839.508946 meters looking forward 200.000000 meters along route # Maximum depth: 845.840640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.508946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807836; longitude = -118.659280; captureRadius = 10; duration = 56; initialDepth = 739.508946; finalDepth = 739.508946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.046378 # Altitude Set: 100 # Vehicle Depth:739.508946 # Seafloor Depth:-839.513144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252608 meters # Minimum depth: 839.508946 meters looking forward 200.000000 meters along route # Maximum depth: 841.837307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.508946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807419; longitude = -118.659626; captureRadius = 10; duration = 56; initialDepth = 739.508946; finalDepth = 739.508946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.097806 # Altitude Set: 100 # Vehicle Depth:739.508946 # Seafloor Depth:-840.606752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.252701 meters # Minimum depth: 839.508946 meters looking forward 200.000000 meters along route # Maximum depth: 843.305904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.508946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807002; longitude = -118.659971; captureRadius = 10; duration = 56; initialDepth = 739.508946; finalDepth = 739.508946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.354571 # Altitude Set: 100 # Vehicle Depth:739.508946 # Seafloor Depth:-841.863517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 57.518163 meters # Minimum depth: 839.899234 meters looking forward 200.000000 meters along route # Maximum depth: 846.456940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.899234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806585; longitude = -118.660317; captureRadius = 10; duration = 57; initialDepth = 739.899234; finalDepth = 739.508946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.971466 # Altitude Set: 100 # Vehicle Depth:739.899234 # Seafloor Depth:-843.870700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 54.987518 meters # Minimum depth: 841.105509 meters looking forward 200.000000 meters along route # Maximum depth: 848.689302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.105509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.660670; captureRadius = 10; duration = 54; initialDepth = 741.105509; finalDepth = 739.899234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.39966 # Altitude Set: 100 # Vehicle Depth:741.105509 # Seafloor Depth:-846.505169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 61.571320 meters # Minimum depth: 843.305904 meters looking forward 200.000000 meters along route # Maximum depth: 851.762031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.305904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805750; longitude = -118.661008; captureRadius = 10; duration = 61; initialDepth = 743.305904; finalDepth = 741.105509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.867253 # Altitude Set: 100 # Vehicle Depth:743.305904 # Seafloor Depth:-849.173157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.934732 meters # Minimum depth: 845.315876 meters looking forward 200.000000 meters along route # Maximum depth: 853.343698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.315876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805294; longitude = -118.661387; captureRadius = 10; duration = 50; initialDepth = 745.315876; finalDepth = 743.305904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.662819 # Altitude Set: 100 # Vehicle Depth:745.315876 # Seafloor Depth:-851.978695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253165 meters # Minimum depth: 847.632156 meters looking forward 200.000000 meters along route # Maximum depth: 855.282245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.632156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804916; longitude = -118.661700; captureRadius = 10; duration = 56; initialDepth = 747.632156; finalDepth = 745.315876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.662819 # Altitude Set: 100 # Vehicle Depth:747.632156 # Seafloor Depth:-853.523689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253258 meters # Minimum depth: 850.565115 meters looking forward 200.000000 meters along route # Maximum depth: 857.708026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.565115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804499; longitude = -118.662045; captureRadius = 10; duration = 56; initialDepth = 750.565115; finalDepth = 747.632156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.891533 # Altitude Set: 100 # Vehicle Depth:750.565115 # Seafloor Depth:-855.764122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253350 meters # Minimum depth: 852.723472 meters looking forward 200.000000 meters along route # Maximum depth: 859.595040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.723472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804082; longitude = -118.662391; captureRadius = 10; duration = 56; initialDepth = 752.723472; finalDepth = 750.565115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.199007 # Altitude Set: 100 # Vehicle Depth:752.723472 # Seafloor Depth:-857.717764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 60.048332 meters # Minimum depth: 855.282245 meters looking forward 200.000000 meters along route # Maximum depth: 861.746755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.282245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803665; longitude = -118.662737; captureRadius = 10; duration = 60; initialDepth = 755.282245; finalDepth = 752.723472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.994292 # Altitude Set: 100 # Vehicle Depth:755.282245 # Seafloor Depth:-859.980363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 52.458648 meters # Minimum depth: 856.779172 meters looking forward 200.000000 meters along route # Maximum depth: 863.837659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.779172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.663106; captureRadius = 10; duration = 52; initialDepth = 756.779172; finalDepth = 755.282245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.098816 # Altitude Set: 100 # Vehicle Depth:756.779172 # Seafloor Depth:-861.877988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253629 meters # Minimum depth: 858.804315 meters looking forward 200.000000 meters along route # Maximum depth: 865.695580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.804315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802831; longitude = -118.663428; captureRadius = 10; duration = 56; initialDepth = 758.804315; finalDepth = 756.779172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.27523 # Altitude Set: 100 # Vehicle Depth:758.804315 # Seafloor Depth:-864.079545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253721 meters # Minimum depth: 860.882693 meters looking forward 200.000000 meters along route # Maximum depth: 867.604940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.882693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802414; longitude = -118.663774; captureRadius = 10; duration = 56; initialDepth = 760.882693; finalDepth = 758.804315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.348146 # Altitude Set: 100 # Vehicle Depth:760.882693 # Seafloor Depth:-866.230839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.253815 meters # Minimum depth: 862.835351 meters looking forward 200.000000 meters along route # Maximum depth: 868.673785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.835351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801996; longitude = -118.664120; captureRadius = 10; duration = 56; initialDepth = 762.835351; finalDepth = 760.882693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.348146 # Altitude Set: 100 # Vehicle Depth:762.835351 # Seafloor Depth:-867.642182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 58.525319 meters # Minimum depth: 865.230966 meters looking forward 200.000000 meters along route # Maximum depth: 869.966058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.230966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801579; longitude = -118.664465; captureRadius = 10; duration = 58; initialDepth = 765.230966; finalDepth = 762.835351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.806831 # Altitude Set: 100 # Vehicle Depth:765.230966 # Seafloor Depth:-868.917470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.982588 meters # Minimum depth: 867.010074 meters looking forward 200.000000 meters along route # Maximum depth: 870.740280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.010074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801145; longitude = -118.664825; captureRadius = 10; duration = 53; initialDepth = 767.010074; finalDepth = 765.230966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.686504 # Altitude Set: 100 # Vehicle Depth:767.010074 # Seafloor Depth:-869.999673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 55.990110 meters # Minimum depth: 868.245354 meters looking forward 200.000000 meters along route # Maximum depth: 871.132836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.245354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800745; longitude = -118.665157; captureRadius = 10; duration = 55; initialDepth = 768.245354; finalDepth = 767.010074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.989599 # Altitude Set: 100 # Vehicle Depth:768.245354 # Seafloor Depth:-870.819108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 19.278638 meters # Minimum depth: 868.673785 meters looking forward 200.000000 meters along route # Maximum depth: 871.262452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.673785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800330; longitude = -118.665501; captureRadius = 10; duration = 19; initialDepth = 768.673785; finalDepth = 768.245354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.573754 # Altitude Set: 100 # Vehicle Depth:768.673785 # Seafloor Depth:-871.207748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 58.383952 meters # Minimum depth: 869.966058 meters looking forward 200.000000 meters along route # Maximum depth: 871.262452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.966058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800231; longitude = -118.665330; captureRadius = 10; duration = 58; initialDepth = 769.966058; finalDepth = 768.673785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.533963 # Altitude Set: 100 # Vehicle Depth:769.966058 # Seafloor Depth:-871.213144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 66.638785 meters # Minimum depth: 870.470682 meters looking forward 200.000000 meters along route # Maximum depth: 871.262452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 770.470682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799932; longitude = -118.664811; captureRadius = 10; duration = 66; initialDepth = 770.470682; finalDepth = 769.966058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.247086 # Altitude Set: 100 # Vehicle Depth:770.470682 # Seafloor Depth:-870.579885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.129496 meters # Minimum depth: 870.470682 meters looking forward 200.000000 meters along route # Maximum depth: 871.262452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 770.470682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799590; longitude = -118.664219; captureRadius = 10; duration = 50; initialDepth = 770.470682; finalDepth = 770.470682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.109203 # Altitude Set: 100 # Vehicle Depth:770.470682 # Seafloor Depth:-870.554855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.954971 meters # Minimum depth: 869.983098 meters looking forward 200.000000 meters along route # Maximum depth: 870.717023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.983098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799333; longitude = -118.663774; captureRadius = 10; duration = 50; initialDepth = 769.983098; finalDepth = 770.470682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.413682 # Altitude Set: 100 # Vehicle Depth:769.983098 # Seafloor Depth:-870.396780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 54.614158 meters # Minimum depth: 869.422031 meters looking forward 200.000000 meters along route # Maximum depth: 870.646398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.422031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.663321; captureRadius = 10; duration = 54; initialDepth = 769.422031; finalDepth = 769.983098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.496935 # Altitude Set: 100 # Vehicle Depth:769.422031 # Seafloor Depth:-869.918966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 16.186145 meters # Minimum depth: 869.229211 meters looking forward 200.000000 meters along route # Maximum depth: 870.646398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.229211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798791; longitude = -118.662836; captureRadius = 10; duration = 16; initialDepth = 769.229211; finalDepth = 769.422031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.496935 # Altitude Set: 100 # Vehicle Depth:769.229211 # Seafloor Depth:-869.355515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.252863 meters # Minimum depth: 868.862348 meters looking forward 200.000000 meters along route # Maximum depth: 870.612462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.862348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798911; longitude = -118.662737; captureRadius = 10; duration = 56; initialDepth = 768.862348; finalDepth = 769.229211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.352542 # Altitude Set: 100 # Vehicle Depth:768.862348 # Seafloor Depth:-869.214890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 58.597563 meters # Minimum depth: 867.515961 meters looking forward 200.000000 meters along route # Maximum depth: 869.983098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.515961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799328; longitude = -118.662391; captureRadius = 10; duration = 58; initialDepth = 767.515961; finalDepth = 768.862348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.152284 # Altitude Set: 100 # Vehicle Depth:767.515961 # Seafloor Depth:-868.668245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.907885 meters # Minimum depth: 866.600815 meters looking forward 200.000000 meters along route # Maximum depth: 869.422031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.600815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.662031; captureRadius = 10; duration = 53; initialDepth = 766.600815; finalDepth = 767.515961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.152284 # Altitude Set: 100 # Vehicle Depth:766.600815 # Seafloor Depth:-867.467740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.252585 meters # Minimum depth: 865.513050 meters looking forward 200.000000 meters along route # Maximum depth: 869.016283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.513050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800162; longitude = -118.661700; captureRadius = 10; duration = 56; initialDepth = 765.513050; finalDepth = 766.600815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.991317 # Altitude Set: 100 # Vehicle Depth:765.51305 # Seafloor Depth:-866.504367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.252492 meters # Minimum depth: 863.065124 meters looking forward 200.000000 meters along route # Maximum depth: 868.085701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.065124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800579; longitude = -118.661354; captureRadius = 10; duration = 56; initialDepth = 763.065124; finalDepth = 765.513050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.76075 # Altitude Set: 100 # Vehicle Depth:763.065124 # Seafloor Depth:-864.825874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.252400 meters # Minimum depth: 861.217412 meters looking forward 200.000000 meters along route # Maximum depth: 866.974069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.217412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800997; longitude = -118.661008; captureRadius = 10; duration = 56; initialDepth = 761.217412; finalDepth = 763.065124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.76075 # Altitude Set: 100 # Vehicle Depth:761.217412 # Seafloor Depth:-862.950047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 57.084405 meters # Minimum depth: 858.657800 meters looking forward 200.000000 meters along route # Maximum depth: 865.918527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.657800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801414; longitude = -118.660663; captureRadius = 10; duration = 57; initialDepth = 758.657800; finalDepth = 761.217412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.025368 # Altitude Set: 100 # Vehicle Depth:758.6578 # Seafloor Depth:-860.683168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 55.420115 meters # Minimum depth: 856.732270 meters looking forward 200.000000 meters along route # Maximum depth: 863.829003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.732270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.660312; captureRadius = 10; duration = 55; initialDepth = 756.732270; finalDepth = 758.657800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.025368 # Altitude Set: 100 # Vehicle Depth:756.73227 # Seafloor Depth:-858.630849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 61.141610 meters # Minimum depth: 853.966372 meters looking forward 200.000000 meters along route # Maximum depth: 861.217412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.966372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802248; longitude = -118.659971; captureRadius = 10; duration = 61; initialDepth = 753.966372; finalDepth = 756.732270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.325713 # Altitude Set: 100 # Vehicle Depth:753.966372 # Seafloor Depth:-856.292085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.362540 meters # Minimum depth: 852.245916 meters looking forward 200.000000 meters along route # Maximum depth: 859.580620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.245916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802701; longitude = -118.659595; captureRadius = 10; duration = 51; initialDepth = 752.245916; finalDepth = 753.966372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.325713 # Altitude Set: 100 # Vehicle Depth:752.245916 # Seafloor Depth:-853.792279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251935 meters # Minimum depth: 850.676165 meters looking forward 200.000000 meters along route # Maximum depth: 857.683272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.676165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803082; longitude = -118.659280; captureRadius = 10; duration = 56; initialDepth = 750.676165; finalDepth = 752.245916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.546363 # Altitude Set: 100 # Vehicle Depth:750.676165 # Seafloor Depth:-852.088777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251843 meters # Minimum depth: 848.274013 meters looking forward 200.000000 meters along route # Maximum depth: 854.999332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.274013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803499; longitude = -118.658934; captureRadius = 10; duration = 56; initialDepth = 748.274013; finalDepth = 750.676165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.9535 # Altitude Set: 100 # Vehicle Depth:748.274013 # Seafloor Depth:-850.227513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251750 meters # Minimum depth: 846.282019 meters looking forward 200.000000 meters along route # Maximum depth: 853.000947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.282019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803916; longitude = -118.658588; captureRadius = 10; duration = 56; initialDepth = 746.282019; finalDepth = 748.274013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.969066 # Altitude Set: 100 # Vehicle Depth:746.282019 # Seafloor Depth:-848.251085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 59.628449 meters # Minimum depth: 843.212660 meters looking forward 200.000000 meters along route # Maximum depth: 850.676165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.212660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804333; longitude = -118.658243; captureRadius = 10; duration = 59; initialDepth = 743.212660; finalDepth = 746.282019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.487598 # Altitude Set: 100 # Vehicle Depth:743.21266 # Seafloor Depth:-845.700258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 52.874773 meters # Minimum depth: 840.052086 meters looking forward 200.000000 meters along route # Maximum depth: 849.258033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.052086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804775; longitude = -118.657876; captureRadius = 10; duration = 52; initialDepth = 740.052086; finalDepth = 743.212660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.016242 # Altitude Set: 100 # Vehicle Depth:740.052086 # Seafloor Depth:-843.068328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251472 meters # Minimum depth: 836.011023 meters looking forward 200.000000 meters along route # Maximum depth: 847.160130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.011023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805167; longitude = -118.657551; captureRadius = 10; duration = 56; initialDepth = 736.011023; finalDepth = 740.052086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.472764 # Altitude Set: 100 # Vehicle Depth:736.011023 # Seafloor Depth:-839.483787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251379 meters # Minimum depth: 834.263984 meters looking forward 200.000000 meters along route # Maximum depth: 844.262919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.263984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805584; longitude = -118.657206; captureRadius = 10; duration = 56; initialDepth = 734.263984; finalDepth = 736.011023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.472764 # Altitude Set: 100 # Vehicle Depth:734.263984 # Seafloor Depth:-835.099429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.251286 meters # Minimum depth: 834.263984 meters looking forward 200.000000 meters along route # Maximum depth: 841.938492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.263984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806002; longitude = -118.656860; captureRadius = 10; duration = 56; initialDepth = 734.263984; finalDepth = 734.263984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.835445 # Altitude Set: 100 # Vehicle Depth:734.263984 # Seafloor Depth:-834.276320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 58.115312 meters # Minimum depth: 834.263984 meters looking forward 200.000000 meters along route # Maximum depth: 838.869419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.263984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806419; longitude = -118.656514; captureRadius = 10; duration = 58; initialDepth = 734.263984; finalDepth = 734.263984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.72922 # Altitude Set: 100 # Vehicle Depth:734.263984 # Seafloor Depth:-835.993204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 54.386982 meters # Minimum depth: 834.263984 meters looking forward 200.000000 meters along route # Maximum depth: 841.514381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.263984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806850; longitude = -118.656157; captureRadius = 10; duration = 54; initialDepth = 734.263984; finalDepth = 734.263984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.702904 # Altitude Set: 100 # Vehicle Depth:734.263984 # Seafloor Depth:-838.966888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 62.172434 meters # Minimum depth: 835.447278 meters looking forward 200.000000 meters along route # Maximum depth: 845.215161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.447278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807253; longitude = -118.655823; captureRadius = 10; duration = 62; initialDepth = 735.447278; finalDepth = 734.263984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.51559 # Altitude Set: 100 # Vehicle Depth:735.447278 # Seafloor Depth:-841.962868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.329490 meters # Minimum depth: 837.426110 meters looking forward 200.000000 meters along route # Maximum depth: 847.661677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.426110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807714; longitude = -118.655441; captureRadius = 10; duration = 50; initialDepth = 737.426110; finalDepth = 735.447278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.101303 # Altitude Set: 100 # Vehicle Depth:737.42611 # Seafloor Depth:-845.527413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.250822 meters # Minimum depth: 840.232114 meters looking forward 200.000000 meters along route # Maximum depth: 849.344283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.232114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808087; longitude = -118.655131; captureRadius = 10; duration = 56; initialDepth = 740.232114; finalDepth = 737.426110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.101303 # Altitude Set: 100 # Vehicle Depth:740.232114 # Seafloor Depth:-847.800107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.602201 meters # Minimum depth: 843.657682 meters looking forward 200.000000 meters along route # Maximum depth: 851.798917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.657682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808504; longitude = -118.654786; captureRadius = 10; duration = 56; initialDepth = 743.657682; finalDepth = 740.232114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.567993 # Altitude Set: 100 # Vehicle Depth:743.657682 # Seafloor Depth:-849.785053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 55.899166 meters # Minimum depth: 846.661025 meters looking forward 200.000000 meters along route # Maximum depth: 852.221211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.661025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808924; longitude = -118.654438; captureRadius = 10; duration = 55; initialDepth = 746.661025; finalDepth = 743.657682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.127371 # Altitude Set: 100 # Vehicle Depth:746.661025 # Seafloor Depth:-851.808837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 60.659294 meters # Minimum depth: 849.344283 meters looking forward 200.000000 meters along route # Maximum depth: 852.412957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.344283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809338; longitude = -118.654094; captureRadius = 10; duration = 60; initialDepth = 749.344283; finalDepth = 746.661025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.147812 # Altitude Set: 100 # Vehicle Depth:749.344283 # Seafloor Depth:-852.268508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.841702 meters # Minimum depth: 850.797363 meters looking forward 200.000000 meters along route # Maximum depth: 852.437190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.797363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809788; longitude = -118.653721; captureRadius = 10; duration = 51; initialDepth = 750.797363; finalDepth = 749.344283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.924225 # Altitude Set: 100 # Vehicle Depth:750.797363 # Seafloor Depth:-852.394335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.250359 meters # Minimum depth: 851.961890 meters looking forward 200.000000 meters along route # Maximum depth: 852.437190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.961890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810172; longitude = -118.653403; captureRadius = 10; duration = 56; initialDepth = 751.961890; finalDepth = 750.797363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.596972 # Altitude Set: 100 # Vehicle Depth:751.96189 # Seafloor Depth:-852.385936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.250266 meters # Minimum depth: 850.896381 meters looking forward 200.000000 meters along route # Maximum depth: 852.437190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.896381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810590; longitude = -118.653057; captureRadius = 10; duration = 56; initialDepth = 750.896381; finalDepth = 751.961890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.88217 # Altitude Set: 100 # Vehicle Depth:750.896381 # Seafloor Depth:-851.778551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 68.773399 meters # Minimum depth: 849.758054 meters looking forward 200.000000 meters along route # Maximum depth: 852.425425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.758054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811007; longitude = -118.652711; captureRadius = 10; duration = 68; initialDepth = 749.758054; finalDepth = 750.896381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.112632 # Altitude Set: 100 # Vehicle Depth:749.758054 # Seafloor Depth:-850.870686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 55.553027 meters # Minimum depth: 847.604351 meters looking forward 200.000000 meters along route # Maximum depth: 851.961890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.604351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811517; longitude = -118.652289; captureRadius = 10; duration = 55; initialDepth = 747.604351; finalDepth = 749.758054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.712863 # Altitude Set: 100 # Vehicle Depth:747.604351 # Seafloor Depth:-849.317214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 12.905204 meters # Minimum depth: 847.438492 meters looking forward 200.000000 meters along route # Maximum depth: 851.778551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.438492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811928; longitude = -118.651947; captureRadius = 10; duration = 12; initialDepth = 747.438492; finalDepth = 747.604351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.712863 # Altitude Set: 100 # Vehicle Depth:747.438492 # Seafloor Depth:-847.438492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 56.753198 meters # Minimum depth: 847.230515 meters looking forward 200.000000 meters along route # Maximum depth: 850.896381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.230515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811862; longitude = -118.651833; captureRadius = 10; duration = 56; initialDepth = 747.230515; finalDepth = 747.438492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.245028 # Altitude Set: 100 # Vehicle Depth:747.230515 # Seafloor Depth:-847.475543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 58.381025 meters # Minimum depth: 847.203050 meters looking forward 200.000000 meters along route # Maximum depth: 849.758054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.203050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811571; longitude = -118.651329; captureRadius = 10; duration = 58; initialDepth = 747.203050; finalDepth = 747.230515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.245028 # Altitude Set: 100 # Vehicle Depth:747.20305 # Seafloor Depth:-847.203050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 58.381151 meters # Minimum depth: 847.203050 meters looking forward 200.000000 meters along route # Maximum depth: 847.676850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.203050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811272; longitude = -118.650810; captureRadius = 10; duration = 58; initialDepth = 747.203050; finalDepth = 747.203050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.372327 # Altitude Set: 100 # Vehicle Depth:747.20305 # Seafloor Depth:-847.575377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 62.303902 meters # Minimum depth: 846.704560 meters looking forward 200.000000 meters along route # Maximum depth: 847.644174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.704560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810972; longitude = -118.650292; captureRadius = 10; duration = 62; initialDepth = 746.704560; finalDepth = 747.203050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.681645 # Altitude Set: 100 # Vehicle Depth:746.70456 # Seafloor Depth:-847.386205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.275520 meters # Minimum depth: 846.391977 meters looking forward 200.000000 meters along route # Maximum depth: 847.644174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.391977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810652; longitude = -118.649738; captureRadius = 10; duration = 51; initialDepth = 746.391977; finalDepth = 746.704560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.681645 # Altitude Set: 100 # Vehicle Depth:746.391977 # Seafloor Depth:-846.686977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 23.523952 meters # Minimum depth: 846.326172 meters looking forward 200.000000 meters along route # Maximum depth: 847.575377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.326172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810389; longitude = -118.649283; captureRadius = 10; duration = 23; initialDepth = 746.326172; finalDepth = 746.391977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.295 # Altitude Set: 100 # Vehicle Depth:746.326172 # Seafloor Depth:-846.326172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 57.553810 meters # Minimum depth: 846.326172 meters looking forward 200.000000 meters along route # Maximum depth: 847.432557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.326172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810215; longitude = -118.649427; captureRadius = 10; duration = 57; initialDepth = 746.326172; finalDepth = 746.326172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.071369 # Altitude Set: 100 # Vehicle Depth:746.326172 # Seafloor Depth:-846.397541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 54.944079 meters # Minimum depth: 846.326172 meters looking forward 200.000000 meters along route # Maximum depth: 847.000752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.326172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809788; longitude = -118.649781; captureRadius = 10; duration = 54; initialDepth = 746.326172; finalDepth = 746.326172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.462675 # Altitude Set: 100 # Vehicle Depth:746.326172 # Seafloor Depth:-846.788847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 61.615676 meters # Minimum depth: 846.326172 meters looking forward 200.000000 meters along route # Maximum depth: 847.780909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.326172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809381; longitude = -118.650119; captureRadius = 10; duration = 61; initialDepth = 746.326172; finalDepth = 746.326172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.831425 # Altitude Set: 100 # Vehicle Depth:746.326172 # Seafloor Depth:-847.157597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.882584 meters # Minimum depth: 846.711351 meters looking forward 200.000000 meters along route # Maximum depth: 848.082994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.711351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808924; longitude = -118.650497; captureRadius = 10; duration = 50; initialDepth = 746.711351; finalDepth = 746.326172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.103519 # Altitude Set: 100 # Vehicle Depth:746.711351 # Seafloor Depth:-847.814870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249269 meters # Minimum depth: 846.714892 meters looking forward 200.000000 meters along route # Maximum depth: 848.269291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.714892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808546; longitude = -118.650810; captureRadius = 10; duration = 56; initialDepth = 746.714892; finalDepth = 746.711351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.408759 # Altitude Set: 100 # Vehicle Depth:746.714892 # Seafloor Depth:-848.123651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249362 meters # Minimum depth: 846.610095 meters looking forward 200.000000 meters along route # Maximum depth: 848.269291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.610095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808129; longitude = -118.651156; captureRadius = 10; duration = 56; initialDepth = 746.610095; finalDepth = 746.714892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.408759 # Altitude Set: 100 # Vehicle Depth:746.610095 # Seafloor Depth:-847.707327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249454 meters # Minimum depth: 845.908773 meters looking forward 200.000000 meters along route # Maximum depth: 848.269291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.908773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807712; longitude = -118.651502; captureRadius = 10; duration = 56; initialDepth = 745.908773; finalDepth = 746.610095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.097232 # Altitude Set: 100 # Vehicle Depth:745.908773 # Seafloor Depth:-846.607540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 60.114366 meters # Minimum depth: 843.920686 meters looking forward 200.000000 meters along route # Maximum depth: 848.044635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.920686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807295; longitude = -118.651847; captureRadius = 10; duration = 60; initialDepth = 743.920686; finalDepth = 745.908773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.764799 # Altitude Set: 100 # Vehicle Depth:743.920686 # Seafloor Depth:-845.685485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.384822 meters # Minimum depth: 842.423930 meters looking forward 200.000000 meters along route # Maximum depth: 847.092253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.423930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806850; longitude = -118.652217; captureRadius = 10; duration = 52; initialDepth = 742.423930; finalDepth = 743.920686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.764799 # Altitude Set: 100 # Vehicle Depth:742.42393 # Seafloor Depth:-843.805085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249733 meters # Minimum depth: 840.785677 meters looking forward 200.000000 meters along route # Maximum depth: 846.222878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.785677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806461; longitude = -118.652539; captureRadius = 10; duration = 56; initialDepth = 740.785677; finalDepth = 742.423930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.435902 # Altitude Set: 100 # Vehicle Depth:740.785677 # Seafloor Depth:-842.221579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249825 meters # Minimum depth: 837.389652 meters looking forward 200.000000 meters along route # Maximum depth: 844.862825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.389652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806044; longitude = -118.652884; captureRadius = 10; duration = 56; initialDepth = 737.389652; finalDepth = 740.785677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.758491 # Altitude Set: 100 # Vehicle Depth:737.389652 # Seafloor Depth:-840.148143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.249918 meters # Minimum depth: 835.397584 meters looking forward 200.000000 meters along route # Maximum depth: 843.158020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.397584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805627; longitude = -118.653230; captureRadius = 10; duration = 56; initialDepth = 735.397584; finalDepth = 737.389652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.758491 # Altitude Set: 100 # Vehicle Depth:735.397584 # Seafloor Depth:-837.318215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 58.613031 meters # Minimum depth: 830.840882 meters looking forward 200.000000 meters along route # Maximum depth: 841.228830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 730.840882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805210; longitude = -118.653576; captureRadius = 10; duration = 58; initialDepth = 730.840882; finalDepth = 735.397584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.953822 # Altitude Set: 100 # Vehicle Depth:730.840882 # Seafloor Depth:-834.794704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.887084 meters # Minimum depth: 827.576284 meters looking forward 200.000000 meters along route # Maximum depth: 838.670496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 727.576284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804775; longitude = -118.653936; captureRadius = 10; duration = 53; initialDepth = 727.576284; finalDepth = 730.840882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.953822 # Altitude Set: 100 # Vehicle Depth:727.576284 # Seafloor Depth:-830.695608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.250197 meters # Minimum depth: 825.888484 meters looking forward 200.000000 meters along route # Maximum depth: 836.135500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.888484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804376; longitude = -118.654267; captureRadius = 10; duration = 56; initialDepth = 725.888484; finalDepth = 727.576284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.119324 # Altitude Set: 100 # Vehicle Depth:725.888484 # Seafloor Depth:-827.165686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.250289 meters # Minimum depth: 824.774086 meters looking forward 200.000000 meters along route # Maximum depth: 832.808952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.774086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803959; longitude = -118.654613; captureRadius = 10; duration = 56; initialDepth = 724.774086; finalDepth = 725.888484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.277202 # Altitude Set: 100 # Vehicle Depth:724.774086 # Seafloor Depth:-825.664004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.250382 meters # Minimum depth: 824.748499 meters looking forward 200.000000 meters along route # Maximum depth: 829.233560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.748499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803542; longitude = -118.654959; captureRadius = 10; duration = 56; initialDepth = 724.748499; finalDepth = 724.774086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.889918 # Altitude Set: 100 # Vehicle Depth:724.748499 # Seafloor Depth:-824.748499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 57.111671 meters # Minimum depth: 824.748499 meters looking forward 200.000000 meters along route # Maximum depth: 837.387909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.748499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803125; longitude = -118.655304; captureRadius = 10; duration = 57; initialDepth = 724.748499; finalDepth = 724.748499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.311384 # Altitude Set: 100 # Vehicle Depth:724.748499 # Seafloor Depth:-827.059883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 55.389371 meters # Minimum depth: 824.748499 meters looking forward 200.000000 meters along route # Maximum depth: 843.881796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 724.748499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802701; longitude = -118.655655; captureRadius = 10; duration = 55; initialDepth = 724.748499; finalDepth = 724.748499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 112.808628 # Altitude Set: 100 # Vehicle Depth:724.748499 # Seafloor Depth:-837.557127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 61.173648 meters # Minimum depth: 825.776996 meters looking forward 200.000000 meters along route # Maximum depth: 848.934304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.776996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802290; longitude = -118.655996; captureRadius = 10; duration = 61; initialDepth = 725.776996; finalDepth = 724.748499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.894913 # Altitude Set: 100 # Vehicle Depth:725.776996 # Seafloor Depth:-844.671909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.327765 meters # Minimum depth: 831.637544 meters looking forward 200.000000 meters along route # Maximum depth: 851.317820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 731.637544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.656372; captureRadius = 10; duration = 51; initialDepth = 731.637544; finalDepth = 725.776996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 118.894913 # Altitude Set: 100 # Vehicle Depth:731.637544 # Seafloor Depth:-849.193285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.250846 meters # Minimum depth: 841.875654 meters looking forward 200.000000 meters along route # Maximum depth: 853.014446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.875654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801456; longitude = -118.656687; captureRadius = 10; duration = 56; initialDepth = 741.875654; finalDepth = 731.637544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.555741 # Altitude Set: 100 # Vehicle Depth:741.875654 # Seafloor Depth:-851.516419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.250938 meters # Minimum depth: 847.031703 meters looking forward 200.000000 meters along route # Maximum depth: 854.958261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.031703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801039; longitude = -118.657033; captureRadius = 10; duration = 56; initialDepth = 747.031703; finalDepth = 741.875654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.640765 # Altitude Set: 100 # Vehicle Depth:747.031703 # Seafloor Depth:-853.481978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.251031 meters # Minimum depth: 850.305688 meters looking forward 200.000000 meters along route # Maximum depth: 856.469584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.305688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800622; longitude = -118.657378; captureRadius = 10; duration = 56; initialDepth = 750.305688; finalDepth = 747.031703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.450275 # Altitude Set: 100 # Vehicle Depth:750.305688 # Seafloor Depth:-854.975607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.672293 meters # Minimum depth: 853.014446 meters looking forward 200.000000 meters along route # Maximum depth: 859.235851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.014446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800205; longitude = -118.657724; captureRadius = 10; duration = 59; initialDepth = 753.014446; finalDepth = 750.305688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.669919 # Altitude Set: 100 # Vehicle Depth:753.014446 # Seafloor Depth:-856.929180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 52.830047 meters # Minimum depth: 854.265064 meters looking forward 200.000000 meters along route # Maximum depth: 860.757718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.265064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.658091; captureRadius = 10; duration = 52; initialDepth = 754.265064; finalDepth = 753.014446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.08852 # Altitude Set: 100 # Vehicle Depth:754.265064 # Seafloor Depth:-859.353584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.251310 meters # Minimum depth: 855.790968 meters looking forward 200.000000 meters along route # Maximum depth: 861.929126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.790968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799371; longitude = -118.658416; captureRadius = 10; duration = 56; initialDepth = 755.790968; finalDepth = 754.265064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.104449 # Altitude Set: 100 # Vehicle Depth:755.790968 # Seafloor Depth:-860.895417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.251402 meters # Minimum depth: 858.195108 meters looking forward 200.000000 meters along route # Maximum depth: 864.469978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.195108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798954; longitude = -118.658761; captureRadius = 10; duration = 56; initialDepth = 758.195108; finalDepth = 755.790968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.104449 # Altitude Set: 100 # Vehicle Depth:758.195108 # Seafloor Depth:-862.528618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.251495 meters # Minimum depth: 860.125398 meters looking forward 200.000000 meters along route # Maximum depth: 865.369850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.125398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798537; longitude = -118.659107; captureRadius = 10; duration = 56; initialDepth = 760.125398; finalDepth = 758.195108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.394492 # Altitude Set: 100 # Vehicle Depth:760.125398 # Seafloor Depth:-864.519890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 58.170912 meters # Minimum depth: 861.533266 meters looking forward 200.000000 meters along route # Maximum depth: 866.636854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.533266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798120; longitude = -118.659453; captureRadius = 10; duration = 58; initialDepth = 761.533266; finalDepth = 760.125398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.394492 # Altitude Set: 100 # Vehicle Depth:761.533266 # Seafloor Depth:-865.604271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 58.857382 meters # Minimum depth: 863.752206 meters looking forward 200.000000 meters along route # Maximum depth: 867.853637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.752206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797688; longitude = -118.659810; captureRadius = 10; duration = 58; initialDepth = 763.752206; finalDepth = 761.533266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.071005 # Altitude Set: 100 # Vehicle Depth:763.752206 # Seafloor Depth:-866.665975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 3.131247 meters # Minimum depth: 864.469978 meters looking forward 200.000000 meters along route # Maximum depth: 868.009872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.469978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797252; longitude = -118.660172; captureRadius = 10; duration = 3; initialDepth = 764.469978; finalDepth = 763.752206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.539894 # Altitude Set: 100 # Vehicle Depth:764.469978 # Seafloor Depth:-868.009872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 58.388042 meters # Minimum depth: 865.369850 meters looking forward 200.000000 meters along route # Maximum depth: 868.009872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.369850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797236; longitude = -118.660144; captureRadius = 10; duration = 58; initialDepth = 765.369850; finalDepth = 764.469978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.539894 # Altitude Set: 100 # Vehicle Depth:765.36985 # Seafloor Depth:-867.946226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 58.388168 meters # Minimum depth: 866.345148 meters looking forward 200.000000 meters along route # Maximum depth: 868.009872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.345148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796936; longitude = -118.659626; captureRadius = 10; duration = 58; initialDepth = 766.345148; finalDepth = 765.369850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.576376 # Altitude Set: 100 # Vehicle Depth:766.345148 # Seafloor Depth:-867.156609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 64.568062 meters # Minimum depth: 865.080957 meters looking forward 200.000000 meters along route # Maximum depth: 868.009872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.080957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796637; longitude = -118.659107; captureRadius = 10; duration = 64; initialDepth = 765.080957; finalDepth = 766.345148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.164865 # Altitude Set: 100 # Vehicle Depth:765.080957 # Seafloor Depth:-866.245822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 52.208652 meters # Minimum depth: 864.425750 meters looking forward 200.000000 meters along route # Maximum depth: 867.312126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.425750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.658534; captureRadius = 10; duration = 52; initialDepth = 764.425750; finalDepth = 765.080957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.164865 # Altitude Set: 100 # Vehicle Depth:764.42575 # Seafloor Depth:-864.984634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 63.315829 meters # Minimum depth: 863.059712 meters looking forward 200.000000 meters along route # Maximum depth: 866.792379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.059712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796038; longitude = -118.658070; captureRadius = 10; duration = 63; initialDepth = 763.059712; finalDepth = 764.425750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.96685 # Altitude Set: 100 # Vehicle Depth:763.059712 # Seafloor Depth:-864.026562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 21.004978 meters # Minimum depth: 862.950215 meters looking forward 200.000000 meters along route # Maximum depth: 865.644498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.950215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795713; longitude = -118.657508; captureRadius = 10; duration = 21; initialDepth = 762.950215; finalDepth = 763.059712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.96685 # Altitude Set: 100 # Vehicle Depth:762.950215 # Seafloor Depth:-862.966873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 58.932561 meters # Minimum depth: 861.577474 meters looking forward 200.000000 meters along route # Maximum depth: 864.984634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.577474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795869; longitude = -118.657378; captureRadius = 10; duration = 58; initialDepth = 761.577474; finalDepth = 762.950215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.22496 # Altitude Set: 100 # Vehicle Depth:761.577474 # Seafloor Depth:-862.802434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.568250 meters # Minimum depth: 861.031714 meters looking forward 200.000000 meters along route # Maximum depth: 864.026562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.031714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.657016; captureRadius = 10; duration = 53; initialDepth = 761.031714; finalDepth = 761.577474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.22496 # Altitude Set: 100 # Vehicle Depth:761.031714 # Seafloor Depth:-861.522586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.250266 meters # Minimum depth: 860.892065 meters looking forward 200.000000 meters along route # Maximum depth: 863.059712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.892065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796703; longitude = -118.656687; captureRadius = 10; duration = 56; initialDepth = 760.892065; finalDepth = 761.031714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.490872 # Altitude Set: 100 # Vehicle Depth:760.892065 # Seafloor Depth:-861.046522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.250173 meters # Minimum depth: 859.192317 meters looking forward 200.000000 meters along route # Maximum depth: 862.171442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.192317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797120; longitude = -118.656341; captureRadius = 10; duration = 56; initialDepth = 759.192317; finalDepth = 760.892065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.308446 # Altitude Set: 100 # Vehicle Depth:759.192317 # Seafloor Depth:-860.500763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.250081 meters # Minimum depth: 857.748994 meters looking forward 200.000000 meters along route # Maximum depth: 861.117229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.748994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797537; longitude = -118.655996; captureRadius = 10; duration = 56; initialDepth = 757.748994; finalDepth = 759.192317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.381861 # Altitude Set: 100 # Vehicle Depth:757.748994 # Seafloor Depth:-859.130855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 57.441032 meters # Minimum depth: 855.613064 meters looking forward 200.000000 meters along route # Maximum depth: 861.021262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.613064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797954; longitude = -118.655650; captureRadius = 10; duration = 57; initialDepth = 755.613064; finalDepth = 757.748994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.739203 # Altitude Set: 100 # Vehicle Depth:755.613064 # Seafloor Depth:-857.352267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 55.058851 meters # Minimum depth: 854.339183 meters looking forward 200.000000 meters along route # Maximum depth: 859.770953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.339183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798380; longitude = -118.655297; captureRadius = 10; duration = 55; initialDepth = 754.339183; finalDepth = 755.613064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.739203 # Altitude Set: 100 # Vehicle Depth:754.339183 # Seafloor Depth:-855.587034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 61.507056 meters # Minimum depth: 852.159429 meters looking forward 200.000000 meters along route # Maximum depth: 857.748994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.159429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798788; longitude = -118.654959; captureRadius = 10; duration = 61; initialDepth = 752.159429; finalDepth = 754.339183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.848388 # Altitude Set: 100 # Vehicle Depth:752.159429 # Seafloor Depth:-854.007817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.992456 meters # Minimum depth: 848.959569 meters looking forward 200.000000 meters along route # Maximum depth: 856.478692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.959569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.654581; captureRadius = 10; duration = 50; initialDepth = 748.959569; finalDepth = 752.159429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.02732 # Altitude Set: 100 # Vehicle Depth:748.959569 # Seafloor Depth:-851.986889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.249617 meters # Minimum depth: 844.145397 meters looking forward 200.000000 meters along route # Maximum depth: 854.947691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.145397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799622; longitude = -118.654267; captureRadius = 10; duration = 56; initialDepth = 744.145397; finalDepth = 748.959569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.411578 # Altitude Set: 100 # Vehicle Depth:744.145397 # Seafloor Depth:-848.556975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.249525 meters # Minimum depth: 837.145705 meters looking forward 200.000000 meters along route # Maximum depth: 852.945873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.145705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800039; longitude = -118.653921; captureRadius = 10; duration = 56; initialDepth = 737.145705; finalDepth = 744.145397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.569653 # Altitude Set: 100 # Vehicle Depth:737.145705 # Seafloor Depth:-842.715358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.249431 meters # Minimum depth: 833.115027 meters looking forward 200.000000 meters along route # Maximum depth: 850.825091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 733.115027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800456; longitude = -118.653576; captureRadius = 10; duration = 56; initialDepth = 733.115027; finalDepth = 737.145705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.569653 # Altitude Set: 100 # Vehicle Depth:733.115027 # Seafloor Depth:-837.117122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 60.015522 meters # Minimum depth: 826.721121 meters looking forward 200.000000 meters along route # Maximum depth: 844.145397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 726.721121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800873; longitude = -118.653230; captureRadius = 10; duration = 60; initialDepth = 726.721121; finalDepth = 733.115027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.522934 # Altitude Set: 100 # Vehicle Depth:726.721121 # Seafloor Depth:-832.244055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 52.483063 meters # Minimum depth: 823.129793 meters looking forward 200.000000 meters along route # Maximum depth: 839.789771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 723.129793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.652861; captureRadius = 10; duration = 52; initialDepth = 723.129793; finalDepth = 726.721121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.522934 # Altitude Set: 100 # Vehicle Depth:723.129793 # Seafloor Depth:-826.342810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.249153 meters # Minimum depth: 822.548834 meters looking forward 200.000000 meters along route # Maximum depth: 834.676999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.548834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801707; longitude = -118.652539; captureRadius = 10; duration = 56; initialDepth = 722.548834; finalDepth = 723.129793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.213017 # Altitude Set: 100 # Vehicle Depth:722.548834 # Seafloor Depth:-822.958767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.249061 meters # Minimum depth: 822.534282 meters looking forward 200.000000 meters along route # Maximum depth: 829.552853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.534282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802124; longitude = -118.652193; captureRadius = 10; duration = 56; initialDepth = 722.534282; finalDepth = 722.548834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.409933 # Altitude Set: 100 # Vehicle Depth:722.534282 # Seafloor Depth:-822.542106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.248968 meters # Minimum depth: 822.534282 meters looking forward 200.000000 meters along route # Maximum depth: 824.328918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.534282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802542; longitude = -118.651847; captureRadius = 10; duration = 56; initialDepth = 722.534282; finalDepth = 722.534282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.138692 # Altitude Set: 100 # Vehicle Depth:722.534282 # Seafloor Depth:-822.672974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 58.524014 meters # Minimum depth: 822.534282 meters looking forward 200.000000 meters along route # Maximum depth: 827.636364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.534282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802959; longitude = -118.651502; captureRadius = 10; duration = 58; initialDepth = 722.534282; finalDepth = 722.534282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.666124 # Altitude Set: 100 # Vehicle Depth:722.534282 # Seafloor Depth:-824.200406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.973644 meters # Minimum depth: 822.549025 meters looking forward 200.000000 meters along route # Maximum depth: 829.784178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.549025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.651142; captureRadius = 10; duration = 53; initialDepth = 722.549025; finalDepth = 722.534282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.199679 # Altitude Set: 100 # Vehicle Depth:722.549025 # Seafloor Depth:-827.748704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.248690 meters # Minimum depth: 823.162515 meters looking forward 200.000000 meters along route # Maximum depth: 832.008531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 723.162515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803793; longitude = -118.650810; captureRadius = 10; duration = 56; initialDepth = 723.162515; finalDepth = 722.549025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.929171 # Altitude Set: 100 # Vehicle Depth:723.162515 # Seafloor Depth:-830.091686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.248597 meters # Minimum depth: 825.985521 meters looking forward 200.000000 meters along route # Maximum depth: 835.995721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.985521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804210; longitude = -118.650464; captureRadius = 10; duration = 56; initialDepth = 725.985521; finalDepth = 723.162515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.025219 # Altitude Set: 100 # Vehicle Depth:725.985521 # Seafloor Depth:-833.010740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.248504 meters # Minimum depth: 828.756770 meters looking forward 200.000000 meters along route # Maximum depth: 838.001492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.756770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804627; longitude = -118.650119; captureRadius = 10; duration = 56; initialDepth = 728.756770; finalDepth = 725.985521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.404116 # Altitude Set: 100 # Vehicle Depth:728.75677 # Seafloor Depth:-836.160886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 57.032529 meters # Minimum depth: 831.375383 meters looking forward 200.000000 meters along route # Maximum depth: 840.317457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 731.375383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805044; longitude = -118.649773; captureRadius = 10; duration = 57; initialDepth = 731.375383; finalDepth = 728.756770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.404116 # Altitude Set: 100 # Vehicle Depth:731.375383 # Seafloor Depth:-838.463175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 55.464202 meters # Minimum depth: 834.737209 meters looking forward 200.000000 meters along route # Maximum depth: 841.399023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 734.737209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.649422; captureRadius = 10; duration = 55; initialDepth = 734.737209; finalDepth = 731.375383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.087792 # Altitude Set: 100 # Vehicle Depth:734.737209 # Seafloor Depth:-840.338802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 61.098440 meters # Minimum depth: 838.001492 meters looking forward 200.000000 meters along route # Maximum depth: 842.781023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.001492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805878; longitude = -118.649082; captureRadius = 10; duration = 61; initialDepth = 738.001492; finalDepth = 734.737209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.601593 # Altitude Set: 100 # Vehicle Depth:738.001492 # Seafloor Depth:-841.599962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.397919 meters # Minimum depth: 839.465269 meters looking forward 200.000000 meters along route # Maximum depth: 843.402106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.465269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.648706; captureRadius = 10; duration = 51; initialDepth = 739.465269; finalDepth = 738.001492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.59847 # Altitude Set: 100 # Vehicle Depth:739.465269 # Seafloor Depth:-842.875863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.248041 meters # Minimum depth: 840.957891 meters looking forward 200.000000 meters along route # Maximum depth: 843.581050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.957891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806712; longitude = -118.648390; captureRadius = 10; duration = 56; initialDepth = 740.957891; finalDepth = 739.465269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.410594 # Altitude Set: 100 # Vehicle Depth:740.957891 # Seafloor Depth:-843.437300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.247948 meters # Minimum depth: 842.226682 meters looking forward 200.000000 meters along route # Maximum depth: 844.422740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.226682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807129; longitude = -118.648044; captureRadius = 10; duration = 56; initialDepth = 742.226682; finalDepth = 740.957891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.479409 # Altitude Set: 100 # Vehicle Depth:742.226682 # Seafloor Depth:-843.795748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.247855 meters # Minimum depth: 843.192325 meters looking forward 200.000000 meters along route # Maximum depth: 844.422740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.192325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807546; longitude = -118.647699; captureRadius = 10; duration = 56; initialDepth = 743.192325; finalDepth = 742.226682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.569066 # Altitude Set: 100 # Vehicle Depth:743.192325 # Seafloor Depth:-844.420269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.606953 meters # Minimum depth: 843.349180 meters looking forward 200.000000 meters along route # Maximum depth: 844.422740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.349180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807963; longitude = -118.647353; captureRadius = 10; duration = 59; initialDepth = 743.349180; finalDepth = 743.192325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.227944 # Altitude Set: 100 # Vehicle Depth:743.34918 # Seafloor Depth:-843.923041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.970564 meters # Minimum depth: 843.142148 meters looking forward 200.000000 meters along route # Maximum depth: 844.422740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.142148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808405; longitude = -118.646987; captureRadius = 10; duration = 59; initialDepth = 743.142148; finalDepth = 743.349180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.573861 # Altitude Set: 100 # Vehicle Depth:743.142148 # Seafloor Depth:-843.318971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 19.284649 meters # Minimum depth: 842.707374 meters looking forward 200.000000 meters along route # Maximum depth: 844.422740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.707374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808850; longitude = -118.646618; captureRadius = 10; duration = 19; initialDepth = 742.707374; finalDepth = 743.142148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.247323 # Altitude Set: 100 # Vehicle Depth:742.707374 # Seafloor Depth:-842.954697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.661241 meters # Minimum depth: 841.549084 meters looking forward 200.000000 meters along route # Maximum depth: 843.923041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.549084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808751; longitude = -118.646447; captureRadius = 10; duration = 53; initialDepth = 741.549084; finalDepth = 742.707374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.039768 # Altitude Set: 100 # Vehicle Depth:741.549084 # Seafloor Depth:-842.588852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 58.385160 meters # Minimum depth: 840.840401 meters looking forward 200.000000 meters along route # Maximum depth: 843.349180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.840401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808476; longitude = -118.645970; captureRadius = 10; duration = 58; initialDepth = 740.840401; finalDepth = 741.549084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.039768 # Altitude Set: 100 # Vehicle Depth:740.840401 # Seafloor Depth:-841.199929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 58.385286 meters # Minimum depth: 840.660563 meters looking forward 200.000000 meters along route # Maximum depth: 843.142148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.660563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808176; longitude = -118.645452; captureRadius = 10; duration = 58; initialDepth = 740.660563; finalDepth = 740.840401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.359528 # Altitude Set: 100 # Vehicle Depth:740.660563 # Seafloor Depth:-840.860796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 58.385413 meters # Minimum depth: 840.141484 meters looking forward 200.000000 meters along route # Maximum depth: 841.561975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.141484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807876; longitude = -118.644933; captureRadius = 10; duration = 58; initialDepth = 740.141484; finalDepth = 740.660563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.49295 # Altitude Set: 100 # Vehicle Depth:740.141484 # Seafloor Depth:-840.634434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.898251 meters # Minimum depth: 840.141484 meters looking forward 200.000000 meters along route # Maximum depth: 841.050387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.141484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807577; longitude = -118.644415; captureRadius = 10; duration = 51; initialDepth = 740.141484; finalDepth = 740.141484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.49295 # Altitude Set: 100 # Vehicle Depth:740.141484 # Seafloor Depth:-840.463033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 18.748808 meters # Minimum depth: 840.141484 meters looking forward 200.000000 meters along route # Maximum depth: 841.050387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.141484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807310; longitude = -118.643954; captureRadius = 10; duration = 18; initialDepth = 740.141484; finalDepth = 740.141484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.426006 # Altitude Set: 100 # Vehicle Depth:740.141484 # Seafloor Depth:-840.567490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.246489 meters # Minimum depth: 840.141484 meters looking forward 200.000000 meters along route # Maximum depth: 840.760427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.141484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807171; longitude = -118.644069; captureRadius = 10; duration = 56; initialDepth = 740.141484; finalDepth = 740.141484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.467474 # Altitude Set: 100 # Vehicle Depth:740.141484 # Seafloor Depth:-840.608958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 57.110016 meters # Minimum depth: 840.463033 meters looking forward 200.000000 meters along route # Maximum depth: 841.149403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.463033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806754; longitude = -118.644415; captureRadius = 10; duration = 57; initialDepth = 740.463033; finalDepth = 740.141484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.467474 # Altitude Set: 100 # Vehicle Depth:740.463033 # Seafloor Depth:-840.821648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 55.383239 meters # Minimum depth: 840.567490 meters looking forward 200.000000 meters along route # Maximum depth: 841.254232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.567490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.644766; captureRadius = 10; duration = 55; initialDepth = 740.567490; finalDepth = 740.463033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.592245 # Altitude Set: 100 # Vehicle Depth:740.56749 # Seafloor Depth:-841.159735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 61.180698 meters # Minimum depth: 840.686198 meters looking forward 200.000000 meters along route # Maximum depth: 841.254232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.686198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805920; longitude = -118.645106; captureRadius = 10; duration = 61; initialDepth = 740.686198; finalDepth = 740.567490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.592245 # Altitude Set: 100 # Vehicle Depth:740.686198 # Seafloor Depth:-841.012758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.312927 meters # Minimum depth: 840.171539 meters looking forward 200.000000 meters along route # Maximum depth: 841.254232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.171539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.645482; captureRadius = 10; duration = 51; initialDepth = 740.171539; finalDepth = 740.686198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.469496 # Altitude Set: 100 # Vehicle Depth:740.171539 # Seafloor Depth:-840.641035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.246952 meters # Minimum depth: 839.787727 meters looking forward 200.000000 meters along route # Maximum depth: 841.240841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.787727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805086; longitude = -118.645797; captureRadius = 10; duration = 56; initialDepth = 739.787727; finalDepth = 740.171539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.469496 # Altitude Set: 100 # Vehicle Depth:739.787727 # Seafloor Depth:-840.164428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.247045 meters # Minimum depth: 838.188296 meters looking forward 200.000000 meters along route # Maximum depth: 840.881778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.188296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804669; longitude = -118.646143; captureRadius = 10; duration = 56; initialDepth = 738.188296; finalDepth = 739.787727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.314595 # Altitude Set: 100 # Vehicle Depth:738.188296 # Seafloor Depth:-839.502891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.247137 meters # Minimum depth: 837.266679 meters looking forward 200.000000 meters along route # Maximum depth: 840.341343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.266679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804252; longitude = -118.646489; captureRadius = 10; duration = 56; initialDepth = 737.266679; finalDepth = 738.188296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.314595 # Altitude Set: 100 # Vehicle Depth:737.266679 # Seafloor Depth:-838.175986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 59.701011 meters # Minimum depth: 835.201348 meters looking forward 200.000000 meters along route # Maximum depth: 839.787727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.201348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803835; longitude = -118.646834; captureRadius = 10; duration = 59; initialDepth = 735.201348; finalDepth = 737.266679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.815025 # Altitude Set: 100 # Vehicle Depth:735.201348 # Seafloor Depth:-837.016373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 52.793542 meters # Minimum depth: 832.184387 meters looking forward 200.000000 meters along route # Maximum depth: 838.778456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 732.184387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.647201; captureRadius = 10; duration = 52; initialDepth = 732.184387; finalDepth = 735.201348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.878545 # Altitude Set: 100 # Vehicle Depth:732.184387 # Seafloor Depth:-835.062932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.247415 meters # Minimum depth: 829.650561 meters looking forward 200.000000 meters along route # Maximum depth: 837.665236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.650561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803001; longitude = -118.647526; captureRadius = 10; duration = 56; initialDepth = 729.650561; finalDepth = 732.184387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.878545 # Altitude Set: 100 # Vehicle Depth:729.650561 # Seafloor Depth:-831.847071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.247508 meters # Minimum depth: 826.568957 meters looking forward 200.000000 meters along route # Maximum depth: 836.226051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 726.568957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802584; longitude = -118.647872; captureRadius = 10; duration = 56; initialDepth = 726.568957; finalDepth = 729.650561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.324105 # Altitude Set: 100 # Vehicle Depth:726.568957 # Seafloor Depth:-828.893062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.247601 meters # Minimum depth: 823.839294 meters looking forward 200.000000 meters along route # Maximum depth: 833.687786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 723.839294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802167; longitude = -118.648217; captureRadius = 10; duration = 56; initialDepth = 723.839294; finalDepth = 726.568957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.617507 # Altitude Set: 100 # Vehicle Depth:723.839294 # Seafloor Depth:-826.456801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 58.221299 meters # Minimum depth: 820.388969 meters looking forward 200.000000 meters along route # Maximum depth: 830.325933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.388969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801750; longitude = -118.648563; captureRadius = 10; duration = 58; initialDepth = 720.388969; finalDepth = 723.839294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.867688 # Altitude Set: 100 # Vehicle Depth:720.388969 # Seafloor Depth:-823.256657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 54.274181 meters # Minimum depth: 820.061317 meters looking forward 200.000000 meters along route # Maximum depth: 827.834419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.061317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.648921; captureRadius = 10; duration = 54; initialDepth = 720.061317; finalDepth = 720.388969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.867688 # Altitude Set: 100 # Vehicle Depth:720.061317 # Seafloor Depth:-820.316264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 62.292064 meters # Minimum depth: 820.061317 meters looking forward 200.000000 meters along route # Maximum depth: 823.839294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.061317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800916; longitude = -118.649254; captureRadius = 10; duration = 62; initialDepth = 720.061317; finalDepth = 720.061317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.441401 # Altitude Set: 100 # Vehicle Depth:720.061317 # Seafloor Depth:-820.502718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.203786 meters # Minimum depth: 820.048615 meters looking forward 200.000000 meters along route # Maximum depth: 821.953959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.048615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800454; longitude = -118.649637; captureRadius = 10; duration = 50; initialDepth = 720.048615; finalDepth = 720.061317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.441401 # Altitude Set: 100 # Vehicle Depth:720.048615 # Seafloor Depth:-820.048615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.248065 meters # Minimum depth: 820.048615 meters looking forward 200.000000 meters along route # Maximum depth: 827.156651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.048615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800082; longitude = -118.649946; captureRadius = 10; duration = 56; initialDepth = 720.048615; finalDepth = 720.048615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.237874 # Altitude Set: 100 # Vehicle Depth:720.048615 # Seafloor Depth:-822.286489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.741562 meters # Minimum depth: 820.048615 meters looking forward 200.000000 meters along route # Maximum depth: 835.577894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.048615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799665; longitude = -118.650292; captureRadius = 10; duration = 56; initialDepth = 720.048615; finalDepth = 720.048615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.746925 # Altitude Set: 100 # Vehicle Depth:720.048615 # Seafloor Depth:-828.795540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 55.754844 meters # Minimum depth: 820.468909 meters looking forward 200.000000 meters along route # Maximum depth: 840.979639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.468909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.650640; captureRadius = 10; duration = 55; initialDepth = 720.468909; finalDepth = 720.048615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 115.170532 # Altitude Set: 100 # Vehicle Depth:720.468909 # Seafloor Depth:-835.639441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 60.812357 meters # Minimum depth: 827.156651 meters looking forward 200.000000 meters along route # Maximum depth: 845.521520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 727.156651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798831; longitude = -118.650983; captureRadius = 10; duration = 60; initialDepth = 727.156651; finalDepth = 720.468909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 115.170532 # Altitude Set: 100 # Vehicle Depth:727.156651 # Seafloor Depth:-841.842516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.684421 meters # Minimum depth: 832.158120 meters looking forward 200.000000 meters along route # Maximum depth: 847.725732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 732.158120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798380; longitude = -118.651357; captureRadius = 10; duration = 51; initialDepth = 732.158120; finalDepth = 727.156651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 114.685865 # Altitude Set: 100 # Vehicle Depth:732.15812 # Seafloor Depth:-845.769897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.248528 meters # Minimum depth: 838.883091 meters looking forward 200.000000 meters along route # Maximum depth: 849.355591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.883091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797997; longitude = -118.651674; captureRadius = 10; duration = 56; initialDepth = 738.883091; finalDepth = 732.158120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.611777 # Altitude Set: 100 # Vehicle Depth:738.883091 # Seafloor Depth:-847.892388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.248621 meters # Minimum depth: 844.008234 meters looking forward 200.000000 meters along route # Maximum depth: 851.874166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.008234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797580; longitude = -118.652020; captureRadius = 10; duration = 56; initialDepth = 744.008234; finalDepth = 738.883091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.009297 # Altitude Set: 100 # Vehicle Depth:744.008234 # Seafloor Depth:-850.071343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.248713 meters # Minimum depth: 846.839413 meters looking forward 200.000000 meters along route # Maximum depth: 852.888637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.839413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797163; longitude = -118.652366; captureRadius = 10; duration = 56; initialDepth = 746.839413; finalDepth = 744.008234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.063109 # Altitude Set: 100 # Vehicle Depth:746.839413 # Seafloor Depth:-851.892080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 59.332625 meters # Minimum depth: 848.892847 meters looking forward 200.000000 meters along route # Maximum depth: 855.132338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.892847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796745; longitude = -118.652711; captureRadius = 10; duration = 59; initialDepth = 748.892847; finalDepth = 746.839413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.052667 # Altitude Set: 100 # Vehicle Depth:748.892847 # Seafloor Depth:-853.255772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.165080 meters # Minimum depth: 851.254910 meters looking forward 200.000000 meters along route # Maximum depth: 856.216031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.254910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.653076; captureRadius = 10; duration = 53; initialDepth = 751.254910; finalDepth = 748.892847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.362925 # Altitude Set: 100 # Vehicle Depth:751.25491 # Seafloor Depth:-855.193095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.248991 meters # Minimum depth: 852.430417 meters looking forward 200.000000 meters along route # Maximum depth: 857.081681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.430417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795911; longitude = -118.653403; captureRadius = 10; duration = 56; initialDepth = 752.430417; finalDepth = 751.254910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.938185 # Altitude Set: 100 # Vehicle Depth:752.430417 # Seafloor Depth:-856.364916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.249084 meters # Minimum depth: 854.355786 meters looking forward 200.000000 meters along route # Maximum depth: 857.561172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.355786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795494; longitude = -118.653749; captureRadius = 10; duration = 56; initialDepth = 754.355786; finalDepth = 752.430417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.934499 # Altitude Set: 100 # Vehicle Depth:754.355786 # Seafloor Depth:-857.156913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 67.474353 meters # Minimum depth: 856.216031 meters looking forward 200.000000 meters along route # Maximum depth: 858.458851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.216031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795077; longitude = -118.654094; captureRadius = 10; duration = 67; initialDepth = 756.216031; finalDepth = 754.355786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.801127 # Altitude Set: 100 # Vehicle Depth:756.216031 # Seafloor Depth:-857.603597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 54.398982 meters # Minimum depth: 857.081681 meters looking forward 200.000000 meters along route # Maximum depth: 859.885211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.081681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.654509; captureRadius = 10; duration = 54; initialDepth = 757.081681; finalDepth = 756.216031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.630226 # Altitude Set: 100 # Vehicle Depth:757.081681 # Seafloor Depth:-858.711907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 6.488011 meters # Minimum depth: 857.156913 meters looking forward 200.000000 meters along route # Maximum depth: 860.024109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.156913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794174; longitude = -118.654843; captureRadius = 10; duration = 6; initialDepth = 757.156913; finalDepth = 757.081681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.867196 # Altitude Set: 100 # Vehicle Depth:757.156913 # Seafloor Depth:-860.024109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.392175 meters # Minimum depth: 857.561172 meters looking forward 200.000000 meters along route # Maximum depth: 860.024109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.561172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794140; longitude = -118.654786; captureRadius = 10; duration = 58; initialDepth = 757.561172; finalDepth = 757.156913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.867196 # Altitude Set: 100 # Vehicle Depth:757.561172 # Seafloor Depth:-859.962540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.647361 meters # Minimum depth: 858.458851 meters looking forward 200.000000 meters along route # Maximum depth: 860.024109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.458851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793841; longitude = -118.654267; captureRadius = 10; duration = 58; initialDepth = 758.458851; finalDepth = 757.561172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.401368 # Altitude Set: 100 # Vehicle Depth:758.458851 # Seafloor Depth:-859.484682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.137367 meters # Minimum depth: 859.367715 meters looking forward 200.000000 meters along route # Maximum depth: 860.222666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.367715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793540; longitude = -118.653746; captureRadius = 10; duration = 58; initialDepth = 759.367715; finalDepth = 758.458851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.025831 # Altitude Set: 100 # Vehicle Depth:759.367715 # Seafloor Depth:-859.680523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 58.392553 meters # Minimum depth: 859.367715 meters looking forward 200.000000 meters along route # Maximum depth: 860.798438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.367715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793242; longitude = -118.653230; captureRadius = 10; duration = 58; initialDepth = 759.367715; finalDepth = 759.367715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.134202 # Altitude Set: 100 # Vehicle Depth:759.367715 # Seafloor Depth:-860.501917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.942533 meters # Minimum depth: 859.481665 meters looking forward 200.000000 meters along route # Maximum depth: 861.522709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.481665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792942; longitude = -118.652711; captureRadius = 10; duration = 59; initialDepth = 759.481665; finalDepth = 759.367715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.518332 # Altitude Set: 100 # Vehicle Depth:759.481665 # Seafloor Depth:-860.999997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 28.867726 meters # Minimum depth: 859.908622 meters looking forward 200.000000 meters along route # Maximum depth: 861.703796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.908622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792635; longitude = -118.652179; captureRadius = 10; duration = 28; initialDepth = 759.908622; finalDepth = 759.481665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.795174 # Altitude Set: 100 # Vehicle Depth:759.908622 # Seafloor Depth:-861.703796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.264975 meters # Minimum depth: 860.364914 meters looking forward 200.000000 meters along route # Maximum depth: 861.703796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.364914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792849; longitude = -118.652002; captureRadius = 10; duration = 53; initialDepth = 760.364914; finalDepth = 759.908622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.795174 # Altitude Set: 100 # Vehicle Depth:760.364914 # Seafloor Depth:-861.233281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.247949 meters # Minimum depth: 859.626235 meters looking forward 200.000000 meters along route # Maximum depth: 861.703796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.626235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793243; longitude = -118.651674; captureRadius = 10; duration = 56; initialDepth = 759.626235; finalDepth = 760.364914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.868367 # Altitude Set: 100 # Vehicle Depth:759.626235 # Seafloor Depth:-860.260404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.247856 meters # Minimum depth: 858.552197 meters looking forward 200.000000 meters along route # Maximum depth: 861.703796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.552197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793660; longitude = -118.651329; captureRadius = 10; duration = 56; initialDepth = 758.552197; finalDepth = 759.626235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.634169 # Altitude Set: 100 # Vehicle Depth:758.552197 # Seafloor Depth:-859.169618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.247764 meters # Minimum depth: 856.953414 meters looking forward 200.000000 meters along route # Maximum depth: 860.878063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.953414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794078; longitude = -118.650983; captureRadius = 10; duration = 56; initialDepth = 756.953414; finalDepth = 758.552197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.542118 # Altitude Set: 100 # Vehicle Depth:756.953414 # Seafloor Depth:-858.495532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 57.761293 meters # Minimum depth: 855.074278 meters looking forward 200.000000 meters along route # Maximum depth: 859.872289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.074278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794495; longitude = -118.650637; captureRadius = 10; duration = 57; initialDepth = 755.074278; finalDepth = 756.953414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.542118 # Altitude Set: 100 # Vehicle Depth:755.074278 # Seafloor Depth:-856.596874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 54.733956 meters # Minimum depth: 853.674071 meters looking forward 200.000000 meters along route # Maximum depth: 858.678772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.674071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.650282; captureRadius = 10; duration = 54; initialDepth = 753.674071; finalDepth = 755.074278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.522596 # Altitude Set: 100 # Vehicle Depth:753.674071 # Seafloor Depth:-855.029465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 61.836132 meters # Minimum depth: 851.238490 meters looking forward 200.000000 meters along route # Maximum depth: 856.953414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.238490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795329; longitude = -118.649946; captureRadius = 10; duration = 61; initialDepth = 751.238490; finalDepth = 753.674071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.212099 # Altitude Set: 100 # Vehicle Depth:751.23849 # Seafloor Depth:-853.450589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.658746 meters # Minimum depth: 849.075216 meters looking forward 200.000000 meters along route # Maximum depth: 855.883076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.075216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.649566; captureRadius = 10; duration = 50; initialDepth = 749.075216; finalDepth = 751.238490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.212099 # Altitude Set: 100 # Vehicle Depth:749.075216 # Seafloor Depth:-850.999261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.247300 meters # Minimum depth: 847.114269 meters looking forward 200.000000 meters along route # Maximum depth: 854.203069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.114269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796163; longitude = -118.649254; captureRadius = 10; duration = 56; initialDepth = 747.114269; finalDepth = 749.075216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.924045 # Altitude Set: 100 # Vehicle Depth:747.114269 # Seafloor Depth:-848.883125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.291409 meters # Minimum depth: 844.520878 meters looking forward 200.000000 meters along route # Maximum depth: 852.444389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.520878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796580; longitude = -118.648909; captureRadius = 10; duration = 56; initialDepth = 744.520878; finalDepth = 747.114269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.09079 # Altitude Set: 100 # Vehicle Depth:744.520878 # Seafloor Depth:-846.611668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.202913 meters # Minimum depth: 840.870788 meters looking forward 200.000000 meters along route # Maximum depth: 850.133613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.870788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.648563; captureRadius = 10; duration = 56; initialDepth = 740.870788; finalDepth = 744.520878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.64794 # Altitude Set: 100 # Vehicle Depth:740.870788 # Seafloor Depth:-844.518728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 60.366220 meters # Minimum depth: 835.267227 meters looking forward 200.000000 meters along route # Maximum depth: 847.114269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.267227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797414; longitude = -118.648217; captureRadius = 10; duration = 60; initialDepth = 735.267227; finalDepth = 740.870788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.690427 # Altitude Set: 100 # Vehicle Depth:735.267227 # Seafloor Depth:-839.957654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.127732 meters # Minimum depth: 829.142983 meters looking forward 200.000000 meters along route # Maximum depth: 845.649003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.142983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.647846; captureRadius = 10; duration = 52; initialDepth = 729.142983; finalDepth = 735.267227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.745797 # Altitude Set: 100 # Vehicle Depth:729.142983 # Seafloor Depth:-834.888780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246836 meters # Minimum depth: 820.592963 meters looking forward 200.000000 meters along route # Maximum depth: 842.480122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 720.592963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798248; longitude = -118.647526; captureRadius = 10; duration = 56; initialDepth = 720.592963; finalDepth = 729.142983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.673231 # Altitude Set: 100 # Vehicle Depth:720.592963 # Seafloor Depth:-828.266194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246744 meters # Minimum depth: 807.207976 meters looking forward 200.000000 meters along route # Maximum depth: 837.623526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.207976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798665; longitude = -118.647180; captureRadius = 10; duration = 56; initialDepth = 707.207976; finalDepth = 720.592963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.958228 # Altitude Set: 100 # Vehicle Depth:707.207976 # Seafloor Depth:-817.166204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246652 meters # Minimum depth: 806.830376 meters looking forward 200.000000 meters along route # Maximum depth: 832.453351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 706.830376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799082; longitude = -118.646834; captureRadius = 10; duration = 56; initialDepth = 706.830376; finalDepth = 707.207976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.958228 # Altitude Set: 100 # Vehicle Depth:706.830376 # Seafloor Depth:-807.132008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 58.896330 meters # Minimum depth: 806.830376 meters looking forward 200.000000 meters along route # Maximum depth: 823.197729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 706.830376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799499; longitude = -118.646489; captureRadius = 10; duration = 58; initialDepth = 706.830376; finalDepth = 706.830376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.816296 # Altitude Set: 100 # Vehicle Depth:706.830376 # Seafloor Depth:-810.646672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.596694 meters # Minimum depth: 806.830376 meters looking forward 200.000000 meters along route # Maximum depth: 824.197115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 706.830376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.646127; captureRadius = 10; duration = 53; initialDepth = 706.830376; finalDepth = 706.830376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 113.989325 # Altitude Set: 100 # Vehicle Depth:706.830376 # Seafloor Depth:-820.819701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246373 meters # Minimum depth: 807.108816 meters looking forward 200.000000 meters along route # Maximum depth: 825.969416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 707.108816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800333; longitude = -118.645797; captureRadius = 10; duration = 56; initialDepth = 707.108816; finalDepth = 706.830376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.397963 # Altitude Set: 100 # Vehicle Depth:707.108816 # Seafloor Depth:-824.506779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246281 meters # Minimum depth: 816.419880 meters looking forward 200.000000 meters along route # Maximum depth: 828.850141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 716.419880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800750; longitude = -118.645452; captureRadius = 10; duration = 56; initialDepth = 716.419880; finalDepth = 707.108816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 117.397963 # Altitude Set: 100 # Vehicle Depth:716.41988 # Seafloor Depth:-826.559377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.246188 meters # Minimum depth: 822.715667 meters looking forward 200.000000 meters along route # Maximum depth: 831.344528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 722.715667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801167; longitude = -118.645106; captureRadius = 10; duration = 56; initialDepth = 722.715667; finalDepth = 716.419880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.139497 # Altitude Set: 100 # Vehicle Depth:722.715667 # Seafloor Depth:-828.997032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 57.426465 meters # Minimum depth: 825.620540 meters looking forward 200.000000 meters along route # Maximum depth: 835.095105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 725.620540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801584; longitude = -118.644760; captureRadius = 10; duration = 57; initialDepth = 725.620540; finalDepth = 722.715667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.447813 # Altitude Set: 100 # Vehicle Depth:725.62054 # Seafloor Depth:-832.068353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 55.065632 meters # Minimum depth: 827.702748 meters looking forward 200.000000 meters along route # Maximum depth: 837.158547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 727.702748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.644407; captureRadius = 10; duration = 55; initialDepth = 727.702748; finalDepth = 725.620540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.444111 # Altitude Set: 100 # Vehicle Depth:727.702748 # Seafloor Depth:-835.146859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 61.501192 meters # Minimum depth: 831.344528 meters looking forward 200.000000 meters along route # Maximum depth: 838.681751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 731.344528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802418; longitude = -118.644069; captureRadius = 10; duration = 61; initialDepth = 731.344528; finalDepth = 727.702748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.444111 # Altitude Set: 100 # Vehicle Depth:731.344528 # Seafloor Depth:-837.487519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.990535 meters # Minimum depth: 833.696793 meters looking forward 200.000000 meters along route # Maximum depth: 839.874532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 733.696793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.643691; captureRadius = 10; duration = 50; initialDepth = 733.696793; finalDepth = 731.344528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.142991 # Altitude Set: 100 # Vehicle Depth:733.696793 # Seafloor Depth:-838.764443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.245724 meters # Minimum depth: 836.282414 meters looking forward 200.000000 meters along route # Maximum depth: 840.931503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 736.282414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803252; longitude = -118.643377; captureRadius = 10; duration = 56; initialDepth = 736.282414; finalDepth = 733.696793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.06765 # Altitude Set: 100 # Vehicle Depth:736.282414 # Seafloor Depth:-839.977747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.245632 meters # Minimum depth: 838.260081 meters looking forward 200.000000 meters along route # Maximum depth: 841.365783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.260081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803669; longitude = -118.643032; captureRadius = 10; duration = 56; initialDepth = 738.260081; finalDepth = 736.282414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.695333 # Altitude Set: 100 # Vehicle Depth:738.260081 # Seafloor Depth:-841.139955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.245539 meters # Minimum depth: 839.234905 meters looking forward 200.000000 meters along route # Maximum depth: 841.455614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.234905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804086; longitude = -118.642686; captureRadius = 10; duration = 56; initialDepth = 739.234905; finalDepth = 738.260081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.879874 # Altitude Set: 100 # Vehicle Depth:739.234905 # Seafloor Depth:-841.367331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 60.031323 meters # Minimum depth: 840.931503 meters looking forward 200.000000 meters along route # Maximum depth: 841.455614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.931503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804503; longitude = -118.642340; captureRadius = 10; duration = 60; initialDepth = 740.931503; finalDepth = 739.234905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.132426 # Altitude Set: 100 # Vehicle Depth:740.931503 # Seafloor Depth:-841.254427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 52.459477 meters # Minimum depth: 840.687408 meters looking forward 200.000000 meters along route # Maximum depth: 841.455614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.687408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804948; longitude = -118.641971; captureRadius = 10; duration = 52; initialDepth = 740.687408; finalDepth = 740.931503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.602576 # Altitude Set: 100 # Vehicle Depth:740.687408 # Seafloor Depth:-841.289984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 58.522355 meters # Minimum depth: 839.329787 meters looking forward 200.000000 meters along route # Maximum depth: 841.440244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.329787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805337; longitude = -118.641649; captureRadius = 10; duration = 58; initialDepth = 739.329787; finalDepth = 740.687408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.279614 # Altitude Set: 100 # Vehicle Depth:739.329787 # Seafloor Depth:-840.609401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 59.298723 meters # Minimum depth: 839.329787 meters looking forward 200.000000 meters along route # Maximum depth: 841.320216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.329787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805771; longitude = -118.641289; captureRadius = 10; duration = 59; initialDepth = 739.329787; finalDepth = 739.329787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.279614 # Altitude Set: 100 # Vehicle Depth:739.329787 # Seafloor Depth:-839.403244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 55.903733 meters # Minimum depth: 839.329787 meters looking forward 200.000000 meters along route # Maximum depth: 841.413950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.329787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.640763; captureRadius = 10; duration = 55; initialDepth = 739.329787; finalDepth = 739.329787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.366812 # Altitude Set: 100 # Vehicle Depth:739.329787 # Seafloor Depth:-840.696599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.389380 meters # Minimum depth: 839.329787 meters looking forward 200.000000 meters along route # Maximum depth: 841.413950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.329787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805180; longitude = -118.640266; captureRadius = 10; duration = 58; initialDepth = 739.329787; finalDepth = 739.329787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.7261 # Altitude Set: 100 # Vehicle Depth:739.329787 # Seafloor Depth:-841.055887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.389507 meters # Minimum depth: 840.054770 meters looking forward 200.000000 meters along route # Maximum depth: 841.634332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.054770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804880; longitude = -118.639748; captureRadius = 10; duration = 58; initialDepth = 740.054770; finalDepth = 739.329787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.7261 # Altitude Set: 100 # Vehicle Depth:740.05477 # Seafloor Depth:-840.895110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 68.018657 meters # Minimum depth: 840.669082 meters looking forward 200.000000 meters along route # Maximum depth: 842.369314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.669082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804581; longitude = -118.639229; captureRadius = 10; duration = 68; initialDepth = 740.669082; finalDepth = 740.054770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.05036 # Altitude Set: 100 # Vehicle Depth:740.669082 # Seafloor Depth:-841.719442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 19.908950 meters # Minimum depth: 840.669082 meters looking forward 200.000000 meters along route # Maximum depth: 842.470917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.669082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804232; longitude = -118.638625; captureRadius = 10; duration = 19; initialDepth = 740.669082; finalDepth = 740.669082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.801835 # Altitude Set: 100 # Vehicle Depth:740.669082 # Seafloor Depth:-842.470917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.247902 meters # Minimum depth: 840.895110 meters looking forward 200.000000 meters along route # Maximum depth: 843.335159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.895110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804084; longitude = -118.638747; captureRadius = 10; duration = 50; initialDepth = 740.895110; finalDepth = 740.669082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.801835 # Altitude Set: 100 # Vehicle Depth:740.89511 # Seafloor Depth:-842.457800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.244173 meters # Minimum depth: 841.634332 meters looking forward 200.000000 meters along route # Maximum depth: 844.173963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.634332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803711; longitude = -118.639056; captureRadius = 10; duration = 56; initialDepth = 741.634332; finalDepth = 740.895110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.808656 # Altitude Set: 100 # Vehicle Depth:741.634332 # Seafloor Depth:-843.442988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.702622 meters # Minimum depth: 842.360159 meters looking forward 200.000000 meters along route # Maximum depth: 844.763857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.360159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803294; longitude = -118.639402; captureRadius = 10; duration = 56; initialDepth = 742.360159; finalDepth = 741.634332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.836753 # Altitude Set: 100 # Vehicle Depth:742.360159 # Seafloor Depth:-844.196912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 55.786002 meters # Minimum depth: 842.659583 meters looking forward 200.000000 meters along route # Maximum depth: 844.766626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.659583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.639750; captureRadius = 10; duration = 55; initialDepth = 742.659583; finalDepth = 742.360159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.107043 # Altitude Set: 100 # Vehicle Depth:742.659583 # Seafloor Depth:-844.766626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 60.782117 meters # Minimum depth: 844.173963 meters looking forward 200.000000 meters along route # Maximum depth: 844.860413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.173963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802460; longitude = -118.640093; captureRadius = 10; duration = 60; initialDepth = 744.173963; finalDepth = 742.659583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.107043 # Altitude Set: 100 # Vehicle Depth:744.173963 # Seafloor Depth:-844.792767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.706877 meters # Minimum depth: 844.498845 meters looking forward 200.000000 meters along route # Maximum depth: 844.860413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.498845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.640467; captureRadius = 10; duration = 51; initialDepth = 744.498845; finalDepth = 744.173963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.618804 # Altitude Set: 100 # Vehicle Depth:744.498845 # Seafloor Depth:-844.780413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.244636 meters # Minimum depth: 844.501251 meters looking forward 200.000000 meters along route # Maximum depth: 844.860413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.501251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801626; longitude = -118.640785; captureRadius = 10; duration = 56; initialDepth = 744.501251; finalDepth = 744.498845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.281568 # Altitude Set: 100 # Vehicle Depth:744.501251 # Seafloor Depth:-844.593582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.244729 meters # Minimum depth: 843.585289 meters looking forward 200.000000 meters along route # Maximum depth: 844.860413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.585289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801209; longitude = -118.641130; captureRadius = 10; duration = 56; initialDepth = 743.585289; finalDepth = 744.501251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.772378 # Altitude Set: 100 # Vehicle Depth:743.585289 # Seafloor Depth:-844.357667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.244822 meters # Minimum depth: 842.139357 meters looking forward 200.000000 meters along route # Maximum depth: 844.708924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.139357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800792; longitude = -118.641476; captureRadius = 10; duration = 56; initialDepth = 742.139357; finalDepth = 743.585289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.424749 # Altitude Set: 100 # Vehicle Depth:742.139357 # Seafloor Depth:-843.564106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 59.324045 meters # Minimum depth: 838.723847 meters looking forward 200.000000 meters along route # Maximum depth: 844.573825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.723847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800375; longitude = -118.641822; captureRadius = 10; duration = 59; initialDepth = 738.723847; finalDepth = 742.139357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.044876 # Altitude Set: 100 # Vehicle Depth:738.723847 # Seafloor Depth:-841.768723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.165876 meters # Minimum depth: 835.879548 meters looking forward 200.000000 meters along route # Maximum depth: 844.019516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.879548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.642186; captureRadius = 10; duration = 53; initialDepth = 735.879548; finalDepth = 738.723847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.044876 # Altitude Set: 100 # Vehicle Depth:735.879548 # Seafloor Depth:-838.528226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.245100 meters # Minimum depth: 833.210263 meters looking forward 200.000000 meters along route # Maximum depth: 842.766049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 733.210263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799541; longitude = -118.642513; captureRadius = 10; duration = 56; initialDepth = 733.210263; finalDepth = 735.879548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.648678 # Altitude Set: 100 # Vehicle Depth:733.210263 # Seafloor Depth:-835.505348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.245192 meters # Minimum depth: 829.732554 meters looking forward 200.000000 meters along route # Maximum depth: 840.495107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.732554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799124; longitude = -118.642859; captureRadius = 10; duration = 56; initialDepth = 729.732554; finalDepth = 733.210263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.642865 # Altitude Set: 100 # Vehicle Depth:729.732554 # Seafloor Depth:-832.375419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.245285 meters # Minimum depth: 828.500024 meters looking forward 200.000000 meters along route # Maximum depth: 837.116926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.500024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798707; longitude = -118.643205; captureRadius = 10; duration = 56; initialDepth = 728.500024; finalDepth = 729.732554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.642865 # Altitude Set: 100 # Vehicle Depth:728.500024 # Seafloor Depth:-829.644294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 57.865949 meters # Minimum depth: 828.163025 meters looking forward 200.000000 meters along route # Maximum depth: 833.856527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.163025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798290; longitude = -118.643550; captureRadius = 10; duration = 57; initialDepth = 728.163025; finalDepth = 728.500024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.14427 # Altitude Set: 100 # Vehicle Depth:728.163025 # Seafloor Depth:-828.326808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.624899 meters # Minimum depth: 828.163025 meters looking forward 200.000000 meters along route # Maximum depth: 830.922739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.163025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.643906; captureRadius = 10; duration = 54; initialDepth = 728.163025; finalDepth = 728.163025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.221779 # Altitude Set: 100 # Vehicle Depth:728.163025 # Seafloor Depth:-828.384804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 61.945528 meters # Minimum depth: 828.163025 meters looking forward 200.000000 meters along route # Maximum depth: 833.701785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.163025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797456; longitude = -118.644242; captureRadius = 10; duration = 61; initialDepth = 728.163025; finalDepth = 728.163025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.070581 # Altitude Set: 100 # Vehicle Depth:728.163025 # Seafloor Depth:-830.233606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.545691 meters # Minimum depth: 828.163025 meters looking forward 200.000000 meters along route # Maximum depth: 836.284635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 728.163025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.644622; captureRadius = 10; duration = 50; initialDepth = 728.163025; finalDepth = 728.163025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.8786 # Altitude Set: 100 # Vehicle Depth:728.163025 # Seafloor Depth:-834.041625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.245749 meters # Minimum depth: 829.104099 meters looking forward 200.000000 meters along route # Maximum depth: 838.430611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 729.104099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796622; longitude = -118.644933; captureRadius = 10; duration = 56; initialDepth = 729.104099; finalDepth = 728.163025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.369364 # Altitude Set: 100 # Vehicle Depth:729.104099 # Seafloor Depth:-836.473463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.407827 meters # Minimum depth: 831.859550 meters looking forward 200.000000 meters along route # Maximum depth: 843.451298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 731.859550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796205; longitude = -118.645279; captureRadius = 10; duration = 56; initialDepth = 731.859550; finalDepth = 729.104099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.369364 # Altitude Set: 100 # Vehicle Depth:731.85955 # Seafloor Depth:-839.205551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.083947 meters # Minimum depth: 835.146632 meters looking forward 200.000000 meters along route # Maximum depth: 846.258637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 735.146632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.645626; captureRadius = 10; duration = 56; initialDepth = 735.146632; finalDepth = 731.859550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.31623 # Altitude Set: 100 # Vehicle Depth:735.146632 # Seafloor Depth:-843.462862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 60.487436 meters # Minimum depth: 838.430611 meters looking forward 200.000000 meters along route # Maximum depth: 849.089053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.430611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795371; longitude = -118.645970; captureRadius = 10; duration = 60; initialDepth = 738.430611; finalDepth = 735.146632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.31623 # Altitude Set: 100 # Vehicle Depth:738.430611 # Seafloor Depth:-846.694218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 52.004710 meters # Minimum depth: 841.391869 meters looking forward 200.000000 meters along route # Maximum depth: 851.018469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.391869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.646342; captureRadius = 10; duration = 52; initialDepth = 741.391869; finalDepth = 738.430611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.263607 # Altitude Set: 100 # Vehicle Depth:741.391869 # Seafloor Depth:-849.260717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.246212 meters # Minimum depth: 845.296252 meters looking forward 200.000000 meters along route # Maximum depth: 853.319224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.296252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794537; longitude = -118.646662; captureRadius = 10; duration = 56; initialDepth = 745.296252; finalDepth = 741.391869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.868848 # Altitude Set: 100 # Vehicle Depth:745.296252 # Seafloor Depth:-851.241075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.246304 meters # Minimum depth: 847.929194 meters looking forward 200.000000 meters along route # Maximum depth: 856.453249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.929194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794120; longitude = -118.647007; captureRadius = 10; duration = 56; initialDepth = 747.929194; finalDepth = 745.296252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.246586 # Altitude Set: 100 # Vehicle Depth:747.929194 # Seafloor Depth:-854.175780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.246398 meters # Minimum depth: 850.142484 meters looking forward 200.000000 meters along route # Maximum depth: 858.541218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.142484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793703; longitude = -118.647353; captureRadius = 10; duration = 56; initialDepth = 750.142484; finalDepth = 747.929194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.361167 # Altitude Set: 100 # Vehicle Depth:750.142484 # Seafloor Depth:-856.503651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 59.029320 meters # Minimum depth: 852.598883 meters looking forward 200.000000 meters along route # Maximum depth: 860.680534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.598883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793286; longitude = -118.647699; captureRadius = 10; duration = 59; initialDepth = 752.598883; finalDepth = 750.142484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.493843 # Altitude Set: 100 # Vehicle Depth:752.598883 # Seafloor Depth:-859.092726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.463752 meters # Minimum depth: 855.446073 meters looking forward 200.000000 meters along route # Maximum depth: 861.715330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.446073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792849; longitude = -118.648062; captureRadius = 10; duration = 53; initialDepth = 755.446073; finalDepth = 752.598883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.493843 # Altitude Set: 100 # Vehicle Depth:755.446073 # Seafloor Depth:-860.752817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.246675 meters # Minimum depth: 857.729912 meters looking forward 200.000000 meters along route # Maximum depth: 862.951039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.729912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792452; longitude = -118.648390; captureRadius = 10; duration = 56; initialDepth = 757.729912; finalDepth = 755.446073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.306744 # Altitude Set: 100 # Vehicle Depth:757.729912 # Seafloor Depth:-861.906836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.246768 meters # Minimum depth: 860.075475 meters looking forward 200.000000 meters along route # Maximum depth: 864.932490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.075475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792035; longitude = -118.648736; captureRadius = 10; duration = 56; initialDepth = 760.075475; finalDepth = 757.729912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.176924 # Altitude Set: 100 # Vehicle Depth:760.075475 # Seafloor Depth:-863.550724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 70.532451 meters # Minimum depth: 861.715330 meters looking forward 200.000000 meters along route # Maximum depth: 866.695486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.715330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791618; longitude = -118.649082; captureRadius = 10; duration = 70; initialDepth = 761.715330; finalDepth = 760.075475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.475249 # Altitude Set: 100 # Vehicle Depth:761.71533 # Seafloor Depth:-864.989028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 9.887649 meters # Minimum depth: 861.715330 meters looking forward 200.000000 meters along route # Maximum depth: 866.884918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.715330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791095; longitude = -118.649515; captureRadius = 10; duration = 9; initialDepth = 761.715330; finalDepth = 761.715330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.169588 # Altitude Set: 100 # Vehicle Depth:761.71533 # Seafloor Depth:-866.884918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.396308 meters # Minimum depth: 863.550724 meters looking forward 200.000000 meters along route # Maximum depth: 867.123799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.550724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791045; longitude = -118.649427; captureRadius = 10; duration = 58; initialDepth = 763.550724; finalDepth = 761.715330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.169588 # Altitude Set: 100 # Vehicle Depth:763.550724 # Seafloor Depth:-866.855221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 61.631420 meters # Minimum depth: 865.433755 meters looking forward 200.000000 meters along route # Maximum depth: 867.491868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.433755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790745; longitude = -118.648909; captureRadius = 10; duration = 61; initialDepth = 765.433755; finalDepth = 763.550724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.304497 # Altitude Set: 100 # Vehicle Depth:765.433755 # Seafloor Depth:-867.169735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 55.161575 meters # Minimum depth: 866.441569 meters looking forward 200.000000 meters along route # Maximum depth: 867.525725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.441569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790429; longitude = -118.648361; captureRadius = 10; duration = 55; initialDepth = 766.441569; finalDepth = 765.433755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.73598 # Altitude Set: 100 # Vehicle Depth:766.441569 # Seafloor Depth:-867.441411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 58.396686 meters # Minimum depth: 867.104024 meters looking forward 200.000000 meters along route # Maximum depth: 867.733773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.104024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790146; longitude = -118.647872; captureRadius = 10; duration = 58; initialDepth = 767.104024; finalDepth = 766.441569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.999842 # Altitude Set: 100 # Vehicle Depth:767.104024 # Seafloor Depth:-867.651392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 56.526362 meters # Minimum depth: 867.408522 meters looking forward 200.000000 meters along route # Maximum depth: 867.733773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.408522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789846; longitude = -118.647353; captureRadius = 10; duration = 56; initialDepth = 767.408522; finalDepth = 767.104024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.547368 # Altitude Set: 100 # Vehicle Depth:767.408522 # Seafloor Depth:-867.583025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 30.825176 meters # Minimum depth: 867.234068 meters looking forward 200.000000 meters along route # Maximum depth: 867.733773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.234068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789556; longitude = -118.646851; captureRadius = 10; duration = 30; initialDepth = 767.234068; finalDepth = 767.408522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.414873 # Altitude Set: 100 # Vehicle Depth:767.234068 # Seafloor Depth:-867.648941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.245634 meters # Minimum depth: 866.488888 meters looking forward 200.000000 meters along route # Maximum depth: 867.733773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.488888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789784; longitude = -118.646662; captureRadius = 10; duration = 56; initialDepth = 766.488888; finalDepth = 767.234068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.653772 # Altitude Set: 100 # Vehicle Depth:766.488888 # Seafloor Depth:-867.142660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.245541 meters # Minimum depth: 865.701743 meters looking forward 200.000000 meters along route # Maximum depth: 867.648941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.701743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790201; longitude = -118.646316; captureRadius = 10; duration = 56; initialDepth = 765.701743; finalDepth = 766.488888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.653772 # Altitude Set: 100 # Vehicle Depth:765.701743 # Seafloor Depth:-866.202154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.245448 meters # Minimum depth: 865.278904 meters looking forward 200.000000 meters along route # Maximum depth: 867.648941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.278904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790618; longitude = -118.645970; captureRadius = 10; duration = 56; initialDepth = 765.278904; finalDepth = 765.701743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.500411 # Altitude Set: 100 # Vehicle Depth:765.278904 # Seafloor Depth:-865.697069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 58.045199 meters # Minimum depth: 864.219479 meters looking forward 200.000000 meters along route # Maximum depth: 866.685432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.219479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791035; longitude = -118.645625; captureRadius = 10; duration = 58; initialDepth = 764.219479; finalDepth = 765.278904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.757338 # Altitude Set: 100 # Vehicle Depth:764.219479 # Seafloor Depth:-864.976817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.445420 meters # Minimum depth: 862.935545 meters looking forward 200.000000 meters along route # Maximum depth: 865.858458 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.935545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791466; longitude = -118.645268; captureRadius = 10; duration = 54; initialDepth = 762.935545; finalDepth = 764.219479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.253071 # Altitude Set: 100 # Vehicle Depth:762.935545 # Seafloor Depth:-864.188616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 62.128850 meters # Minimum depth: 861.478547 meters looking forward 200.000000 meters along route # Maximum depth: 865.278904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.478547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791869; longitude = -118.644933; captureRadius = 10; duration = 62; initialDepth = 761.478547; finalDepth = 762.935545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.287411 # Altitude Set: 100 # Vehicle Depth:761.478547 # Seafloor Depth:-862.765958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.361398 meters # Minimum depth: 859.571398 meters looking forward 200.000000 meters along route # Maximum depth: 864.559520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.571398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792330; longitude = -118.644551; captureRadius = 10; duration = 50; initialDepth = 759.571398; finalDepth = 761.478547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.742652 # Altitude Set: 100 # Vehicle Depth:759.571398 # Seafloor Depth:-861.314050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.244985 meters # Minimum depth: 857.646793 meters looking forward 200.000000 meters along route # Maximum depth: 863.567662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.646793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792703; longitude = -118.644242; captureRadius = 10; duration = 56; initialDepth = 757.646793; finalDepth = 759.571398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.756609 # Altitude Set: 100 # Vehicle Depth:757.646793 # Seafloor Depth:-859.403402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.596926 meters # Minimum depth: 854.267440 meters looking forward 200.000000 meters along route # Maximum depth: 862.180644 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.267440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793120; longitude = -118.643896; captureRadius = 10; duration = 56; initialDepth = 754.267440; finalDepth = 757.646793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.835074 # Altitude Set: 100 # Vehicle Depth:754.26744 # Seafloor Depth:-857.102514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 55.892765 meters # Minimum depth: 851.421717 meters looking forward 200.000000 meters along route # Maximum depth: 860.582494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.421717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793540; longitude = -118.643548; captureRadius = 10; duration = 55; initialDepth = 751.421717; finalDepth = 754.267440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.835074 # Altitude Set: 100 # Vehicle Depth:751.421717 # Seafloor Depth:-854.245426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 60.680550 meters # Minimum depth: 846.698192 meters looking forward 200.000000 meters along route # Maximum depth: 857.646793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.698192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793954; longitude = -118.643205; captureRadius = 10; duration = 60; initialDepth = 746.698192; finalDepth = 751.421717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.028876 # Altitude Set: 100 # Vehicle Depth:746.698192 # Seafloor Depth:-850.727068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.808771 meters # Minimum depth: 843.563020 meters looking forward 200.000000 meters along route # Maximum depth: 855.925995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.563020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794404; longitude = -118.642832; captureRadius = 10; duration = 51; initialDepth = 743.563020; finalDepth = 746.698192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.028876 # Altitude Set: 100 # Vehicle Depth:743.56302 # Seafloor Depth:-846.395513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.244522 meters # Minimum depth: 841.951691 meters looking forward 200.000000 meters along route # Maximum depth: 852.565426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.951691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794788; longitude = -118.642513; captureRadius = 10; duration = 56; initialDepth = 741.951691; finalDepth = 743.563020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.832493 # Altitude Set: 100 # Vehicle Depth:741.951691 # Seafloor Depth:-843.354057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.244429 meters # Minimum depth: 839.922099 meters looking forward 200.000000 meters along route # Maximum depth: 848.636764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.922099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795205; longitude = -118.642167; captureRadius = 10; duration = 56; initialDepth = 739.922099; finalDepth = 741.951691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.445697 # Altitude Set: 100 # Vehicle Depth:739.922099 # Seafloor Depth:-841.367796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.244336 meters # Minimum depth: 839.180009 meters looking forward 200.000000 meters along route # Maximum depth: 844.809469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.180009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795622; longitude = -118.641822; captureRadius = 10; duration = 56; initialDepth = 739.180009; finalDepth = 739.922099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.445697 # Altitude Set: 100 # Vehicle Depth:739.180009 # Seafloor Depth:-839.902866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.232272 meters # Minimum depth: 839.090239 meters looking forward 200.000000 meters along route # Maximum depth: 842.448357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.090239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796039; longitude = -118.641476; captureRadius = 10; duration = 59; initialDepth = 739.090239; finalDepth = 739.180009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.722857 # Altitude Set: 100 # Vehicle Depth:739.090239 # Seafloor Depth:-839.090239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.256123 meters # Minimum depth: 839.090239 meters looking forward 200.000000 meters along route # Maximum depth: 842.120960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.090239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796478; longitude = -118.641112; captureRadius = 10; duration = 53; initialDepth = 739.090239; finalDepth = 739.090239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.594437 # Altitude Set: 100 # Vehicle Depth:739.090239 # Seafloor Depth:-840.684676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.244058 meters # Minimum depth: 839.090239 meters looking forward 200.000000 meters along route # Maximum depth: 843.367177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.090239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796873; longitude = -118.640785; captureRadius = 10; duration = 56; initialDepth = 739.090239; finalDepth = 739.090239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.180918 # Altitude Set: 100 # Vehicle Depth:739.090239 # Seafloor Depth:-842.271157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.243965 meters # Minimum depth: 839.464841 meters looking forward 200.000000 meters along route # Maximum depth: 846.403884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.464841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797290; longitude = -118.640439; captureRadius = 10; duration = 56; initialDepth = 739.464841; finalDepth = 739.090239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.558452 # Altitude Set: 100 # Vehicle Depth:739.464841 # Seafloor Depth:-844.023293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.243873 meters # Minimum depth: 841.536259 meters looking forward 200.000000 meters along route # Maximum depth: 848.225369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 741.536259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797707; longitude = -118.640093; captureRadius = 10; duration = 56; initialDepth = 741.536259; finalDepth = 739.464841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.00759 # Altitude Set: 100 # Vehicle Depth:741.536259 # Seafloor Depth:-846.543849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 57.784020 meters # Minimum depth: 842.980296 meters looking forward 200.000000 meters along route # Maximum depth: 849.587870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.980296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798124; longitude = -118.639748; captureRadius = 10; duration = 57; initialDepth = 742.980296; finalDepth = 741.536259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.478973 # Altitude Set: 100 # Vehicle Depth:742.980296 # Seafloor Depth:-848.459269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.703448 meters # Minimum depth: 845.241221 meters looking forward 200.000000 meters along route # Maximum depth: 851.137025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.241221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798553; longitude = -118.639392; captureRadius = 10; duration = 54; initialDepth = 745.241221; finalDepth = 742.980296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.478973 # Altitude Set: 100 # Vehicle Depth:745.241221 # Seafloor Depth:-849.625664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 61.867557 meters # Minimum depth: 848.225369 meters looking forward 200.000000 meters along route # Maximum depth: 851.594032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.225369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798958; longitude = -118.639056; captureRadius = 10; duration = 61; initialDepth = 748.225369; finalDepth = 745.241221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.384443 # Altitude Set: 100 # Vehicle Depth:748.225369 # Seafloor Depth:-851.260271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.619541 meters # Minimum depth: 849.005421 meters looking forward 200.000000 meters along route # Maximum depth: 851.652710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.005421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799417; longitude = -118.638676; captureRadius = 10; duration = 50; initialDepth = 749.005421; finalDepth = 748.225369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.034902 # Altitude Set: 100 # Vehicle Depth:749.005421 # Seafloor Depth:-851.621125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.243409 meters # Minimum depth: 850.550017 meters looking forward 200.000000 meters along route # Maximum depth: 851.760338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.550017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799792; longitude = -118.638365; captureRadius = 10; duration = 56; initialDepth = 750.550017; finalDepth = 749.005421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.615704 # Altitude Set: 100 # Vehicle Depth:750.550017 # Seafloor Depth:-851.651949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.335790 meters # Minimum depth: 851.209814 meters looking forward 200.000000 meters along route # Maximum depth: 852.100267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.209814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800209; longitude = -118.638019; captureRadius = 10; duration = 56; initialDepth = 751.209814; finalDepth = 750.550017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.101932 # Altitude Set: 100 # Vehicle Depth:751.209814 # Seafloor Depth:-852.004640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.150752 meters # Minimum depth: 850.260532 meters looking forward 200.000000 meters along route # Maximum depth: 852.100267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.260532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800627; longitude = -118.637673; captureRadius = 10; duration = 56; initialDepth = 750.260532; finalDepth = 751.209814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.946774 # Altitude Set: 100 # Vehicle Depth:750.260532 # Seafloor Depth:-851.207306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 60.419299 meters # Minimum depth: 849.098985 meters looking forward 200.000000 meters along route # Maximum depth: 852.100267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.098985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801043; longitude = -118.637328; captureRadius = 10; duration = 60; initialDepth = 749.098985; finalDepth = 750.260532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.015148 # Altitude Set: 100 # Vehicle Depth:749.098985 # Seafloor Depth:-850.114133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 52.066871 meters # Minimum depth: 847.751691 meters looking forward 200.000000 meters along route # Maximum depth: 852.002490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.751691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801491; longitude = -118.636956; captureRadius = 10; duration = 52; initialDepth = 747.751691; finalDepth = 749.098985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.245186 # Altitude Set: 100 # Vehicle Depth:747.751691 # Seafloor Depth:-848.996877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.242947 meters # Minimum depth: 846.960097 meters looking forward 200.000000 meters along route # Maximum depth: 850.553478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.960097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801877; longitude = -118.636636; captureRadius = 10; duration = 56; initialDepth = 746.960097; finalDepth = 747.751691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.245186 # Altitude Set: 100 # Vehicle Depth:746.960097 # Seafloor Depth:-847.694125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.654069 meters # Minimum depth: 845.493945 meters looking forward 200.000000 meters along route # Maximum depth: 849.678420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.493945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802294; longitude = -118.636291; captureRadius = 10; duration = 53; initialDepth = 745.493945; finalDepth = 746.960097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.919673 # Altitude Set: 100 # Vehicle Depth:745.493945 # Seafloor Depth:-846.413618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 1.791843 meters # Minimum depth: 845.455933 meters looking forward 200.000000 meters along route # Maximum depth: 849.678420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.455933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802692; longitude = -118.635961; captureRadius = 10; duration = 1; initialDepth = 745.455933; finalDepth = 745.493945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.919673 # Altitude Set: 100 # Vehicle Depth:745.455933 # Seafloor Depth:-845.455933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 63.786887 meters # Minimum depth: 845.441613 meters looking forward 200.000000 meters along route # Maximum depth: 847.751691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.441613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802683; longitude = -118.635945; captureRadius = 10; duration = 63; initialDepth = 745.441613; finalDepth = 745.455933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100 # Altitude Set: 100 # Vehicle Depth:745.441613 # Seafloor Depth:-845.441613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.999766 meters # Minimum depth: 845.441613 meters looking forward 200.000000 meters along route # Maximum depth: 846.960097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.441613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.635378; captureRadius = 10; duration = 52; initialDepth = 745.441613; finalDepth = 745.441613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.741179 # Altitude Set: 100 # Vehicle Depth:745.441613 # Seafloor Depth:-846.182792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.393517 meters # Minimum depth: 845.441613 meters looking forward 200.000000 meters along route # Maximum depth: 847.398500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.441613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802083; longitude = -118.634908; captureRadius = 10; duration = 58; initialDepth = 745.441613; finalDepth = 745.441613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.624585 # Altitude Set: 100 # Vehicle Depth:745.441613 # Seafloor Depth:-847.066198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.393643 meters # Minimum depth: 846.005315 meters looking forward 200.000000 meters along route # Maximum depth: 848.667866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.005315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801784; longitude = -118.634389; captureRadius = 10; duration = 58; initialDepth = 746.005315; finalDepth = 745.441613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.629022 # Altitude Set: 100 # Vehicle Depth:746.005315 # Seafloor Depth:-847.634337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 64.634344 meters # Minimum depth: 847.033832 meters looking forward 200.000000 meters along route # Maximum depth: 849.682593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.033832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801484; longitude = -118.633871; captureRadius = 10; duration = 64; initialDepth = 747.033832; finalDepth = 746.005315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.649183 # Altitude Set: 100 # Vehicle Depth:747.033832 # Seafloor Depth:-848.683015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 9.015850 meters # Minimum depth: 847.033832 meters looking forward 200.000000 meters along route # Maximum depth: 849.750321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.033832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801152; longitude = -118.633297; captureRadius = 10; duration = 9; initialDepth = 747.033832; finalDepth = 747.033832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.315396 # Altitude Set: 100 # Vehicle Depth:747.033832 # Seafloor Depth:-849.349228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 61.856368 meters # Minimum depth: 847.634337 meters looking forward 200.000000 meters along route # Maximum depth: 850.781848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.634337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801085; longitude = -118.633352; captureRadius = 10; duration = 61; initialDepth = 747.634337; finalDepth = 747.033832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.350664 # Altitude Set: 100 # Vehicle Depth:747.634337 # Seafloor Depth:-849.985001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.627072 meters # Minimum depth: 848.667866 meters looking forward 200.000000 meters along route # Maximum depth: 852.275318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.667866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800627; longitude = -118.633732; captureRadius = 10; duration = 50; initialDepth = 748.667866; finalDepth = 747.634337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.350664 # Altitude Set: 100 # Vehicle Depth:748.667866 # Seafloor Depth:-850.942196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.241860 meters # Minimum depth: 849.349228 meters looking forward 200.000000 meters along route # Maximum depth: 853.162670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.349228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800252; longitude = -118.634043; captureRadius = 10; duration = 56; initialDepth = 749.349228; finalDepth = 748.667866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.980763 # Altitude Set: 100 # Vehicle Depth:749.349228 # Seafloor Depth:-852.329991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.331621 meters # Minimum depth: 850.323490 meters looking forward 200.000000 meters along route # Maximum depth: 854.806415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 750.323490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799835; longitude = -118.634389; captureRadius = 10; duration = 56; initialDepth = 750.323490; finalDepth = 749.349228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.271893 # Altitude Set: 100 # Vehicle Depth:750.32349 # Seafloor Depth:-853.595383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.152375 meters # Minimum depth: 851.707432 meters looking forward 200.000000 meters along route # Maximum depth: 855.569851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.707432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799417; longitude = -118.634735; captureRadius = 10; duration = 56; initialDepth = 751.707432; finalDepth = 750.323490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.271893 # Altitude Set: 100 # Vehicle Depth:751.707432 # Seafloor Depth:-854.807847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 60.419926 meters # Minimum depth: 853.162670 meters looking forward 200.000000 meters along route # Maximum depth: 856.244657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 753.162670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799001; longitude = -118.635081; captureRadius = 10; duration = 60; initialDepth = 753.162670; finalDepth = 751.707432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.100415 # Altitude Set: 100 # Vehicle Depth:753.16267 # Seafloor Depth:-855.787048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.064441 meters # Minimum depth: 854.330826 meters looking forward 200.000000 meters along route # Maximum depth: 856.611987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.330826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798553; longitude = -118.635452; captureRadius = 10; duration = 52; initialDepth = 754.330826; finalDepth = 753.162670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.624378 # Altitude Set: 100 # Vehicle Depth:754.330826 # Seafloor Depth:-856.190379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242322 meters # Minimum depth: 855.149604 meters looking forward 200.000000 meters along route # Maximum depth: 858.729228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.149604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798167; longitude = -118.635772; captureRadius = 10; duration = 56; initialDepth = 755.149604; finalDepth = 754.330826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.859553 # Altitude Set: 100 # Vehicle Depth:755.149604 # Seafloor Depth:-856.879044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242415 meters # Minimum depth: 856.103230 meters looking forward 200.000000 meters along route # Maximum depth: 859.490936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.103230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797750; longitude = -118.636118; captureRadius = 10; duration = 56; initialDepth = 756.103230; finalDepth = 755.149604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.029673 # Altitude Set: 100 # Vehicle Depth:756.10323 # Seafloor Depth:-859.132903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242508 meters # Minimum depth: 856.103230 meters looking forward 200.000000 meters along route # Maximum depth: 859.648951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 756.103230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797333; longitude = -118.636463; captureRadius = 10; duration = 56; initialDepth = 756.103230; finalDepth = 756.103230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.263323 # Altitude Set: 100 # Vehicle Depth:756.10323 # Seafloor Depth:-859.366553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 58.983460 meters # Minimum depth: 858.257617 meters looking forward 200.000000 meters along route # Maximum depth: 860.065963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.257617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796916; longitude = -118.636809; captureRadius = 10; duration = 58; initialDepth = 758.257617; finalDepth = 756.103230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.263323 # Altitude Set: 100 # Vehicle Depth:758.257617 # Seafloor Depth:-859.807848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.501833 meters # Minimum depth: 859.366553 meters looking forward 200.000000 meters along route # Maximum depth: 860.065963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.366553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796478; longitude = -118.637172; captureRadius = 10; duration = 53; initialDepth = 759.366553; finalDepth = 758.257617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.550231 # Altitude Set: 100 # Vehicle Depth:759.366553 # Seafloor Depth:-859.873336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242786 meters # Minimum depth: 859.468140 meters looking forward 200.000000 meters along route # Maximum depth: 860.065963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.468140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796082; longitude = -118.637500; captureRadius = 10; duration = 56; initialDepth = 759.468140; finalDepth = 759.366553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.506783 # Altitude Set: 100 # Vehicle Depth:759.46814 # Seafloor Depth:-859.577402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242878 meters # Minimum depth: 859.559195 meters looking forward 200.000000 meters along route # Maximum depth: 860.065963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.559195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795665; longitude = -118.637846; captureRadius = 10; duration = 56; initialDepth = 759.559195; finalDepth = 759.468140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.145605 # Altitude Set: 100 # Vehicle Depth:759.559195 # Seafloor Depth:-859.704800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.242971 meters # Minimum depth: 859.559195 meters looking forward 200.000000 meters along route # Maximum depth: 860.548800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.559195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795248; longitude = -118.638192; captureRadius = 10; duration = 56; initialDepth = 759.559195; finalDepth = 759.559195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.514836 # Altitude Set: 100 # Vehicle Depth:759.559195 # Seafloor Depth:-860.074031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 57.546971 meters # Minimum depth: 859.602305 meters looking forward 200.000000 meters along route # Maximum depth: 861.746829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.602305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794831; longitude = -118.638538; captureRadius = 10; duration = 57; initialDepth = 759.602305; finalDepth = 759.559195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.070066 # Altitude Set: 100 # Vehicle Depth:759.602305 # Seafloor Depth:-860.672371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.939249 meters # Minimum depth: 859.705966 meters looking forward 200.000000 meters along route # Maximum depth: 862.706066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.705966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794404; longitude = -118.638891; captureRadius = 10; duration = 54; initialDepth = 759.705966; finalDepth = 759.602305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.059316 # Altitude Set: 100 # Vehicle Depth:759.705966 # Seafloor Depth:-861.765282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 61.635360 meters # Minimum depth: 860.548800 meters looking forward 200.000000 meters along route # Maximum depth: 863.012804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.548800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793997; longitude = -118.639229; captureRadius = 10; duration = 61; initialDepth = 760.548800; finalDepth = 759.705966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.284816 # Altitude Set: 100 # Vehicle Depth:760.5488 # Seafloor Depth:-862.833616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.851230 meters # Minimum depth: 861.242661 meters looking forward 200.000000 meters along route # Maximum depth: 863.012804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.242661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793540; longitude = -118.639608; captureRadius = 10; duration = 50; initialDepth = 761.242661; finalDepth = 760.548800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.284816 # Altitude Set: 100 # Vehicle Depth:761.242661 # Seafloor Depth:-862.917894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.243434 meters # Minimum depth: 861.227061 meters looking forward 200.000000 meters along route # Maximum depth: 863.012804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.227061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793163; longitude = -118.639920; captureRadius = 10; duration = 56; initialDepth = 761.227061; finalDepth = 761.242661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.675233 # Altitude Set: 100 # Vehicle Depth:761.227061 # Seafloor Depth:-862.087768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.243527 meters # Minimum depth: 859.929731 meters looking forward 200.000000 meters along route # Maximum depth: 863.012804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.929731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792746; longitude = -118.640266; captureRadius = 10; duration = 56; initialDepth = 759.929731; finalDepth = 761.227061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.031175 # Altitude Set: 100 # Vehicle Depth:759.929731 # Seafloor Depth:-860.960906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.243619 meters # Minimum depth: 859.928688 meters looking forward 200.000000 meters along route # Maximum depth: 862.702030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.928688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792329; longitude = -118.640612; captureRadius = 10; duration = 56; initialDepth = 759.928688; finalDepth = 759.929731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.031175 # Altitude Set: 100 # Vehicle Depth:759.928688 # Seafloor Depth:-859.928688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 60.198877 meters # Minimum depth: 859.928688 meters looking forward 200.000000 meters along route # Maximum depth: 861.893490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.928688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791912; longitude = -118.640958; captureRadius = 10; duration = 60; initialDepth = 759.928688; finalDepth = 759.928688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.595293 # Altitude Set: 100 # Vehicle Depth:759.928688 # Seafloor Depth:-860.523981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 52.288640 meters # Minimum depth: 859.928688 meters looking forward 200.000000 meters along route # Maximum depth: 863.009332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.928688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791466; longitude = -118.641328; captureRadius = 10; duration = 52; initialDepth = 759.928688; finalDepth = 759.928688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.068575 # Altitude Set: 100 # Vehicle Depth:759.928688 # Seafloor Depth:-861.997263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.243898 meters # Minimum depth: 860.036942 meters looking forward 200.000000 meters along route # Maximum depth: 863.958162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 760.036942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791078; longitude = -118.641649; captureRadius = 10; duration = 56; initialDepth = 760.036942; finalDepth = 759.928688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.061691 # Altitude Set: 100 # Vehicle Depth:760.036942 # Seafloor Depth:-863.098633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.243990 meters # Minimum depth: 861.198846 meters looking forward 200.000000 meters along route # Maximum depth: 865.659841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.198846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790661; longitude = -118.641995; captureRadius = 10; duration = 56; initialDepth = 761.198846; finalDepth = 760.036942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.061691 # Altitude Set: 100 # Vehicle Depth:761.198846 # Seafloor Depth:-864.255058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.244082 meters # Minimum depth: 862.546702 meters looking forward 200.000000 meters along route # Maximum depth: 866.033160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.546702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790244; longitude = -118.642340; captureRadius = 10; duration = 56; initialDepth = 762.546702; finalDepth = 761.198846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.13643 # Altitude Set: 100 # Vehicle Depth:762.546702 # Seafloor Depth:-865.683132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 58.762369 meters # Minimum depth: 863.717325 meters looking forward 200.000000 meters along route # Maximum depth: 866.187131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.717325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789827; longitude = -118.642686; captureRadius = 10; duration = 58; initialDepth = 763.717325; finalDepth = 762.546702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.13643 # Altitude Set: 100 # Vehicle Depth:763.717325 # Seafloor Depth:-866.073979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.726075 meters # Minimum depth: 864.909452 meters looking forward 200.000000 meters along route # Maximum depth: 867.005971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.909452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789392; longitude = -118.643047; captureRadius = 10; duration = 53; initialDepth = 764.909452; finalDepth = 763.717325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.356654 # Altitude Set: 100 # Vehicle Depth:764.909452 # Seafloor Depth:-866.222749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 62.850844 meters # Minimum depth: 866.033160 meters looking forward 200.000000 meters along route # Maximum depth: 867.536413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.033160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788993; longitude = -118.643377; captureRadius = 10; duration = 62; initialDepth = 766.033160; finalDepth = 764.909452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.313297 # Altitude Set: 100 # Vehicle Depth:766.03316 # Seafloor Depth:-867.013623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 68.895093 meters # Minimum depth: 866.187131 meters looking forward 200.000000 meters along route # Maximum depth: 868.225304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.187131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788527; longitude = -118.643764; captureRadius = 10; duration = 68; initialDepth = 766.187131; finalDepth = 766.033160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.478131 # Altitude Set: 100 # Vehicle Depth:766.187131 # Seafloor Depth:-867.665262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 13.330164 meters # Minimum depth: 866.222749 meters looking forward 200.000000 meters along route # Maximum depth: 868.694538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.222749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788016; longitude = -118.644187; captureRadius = 10; duration = 13; initialDepth = 766.222749; finalDepth = 766.187131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.196288 # Altitude Set: 100 # Vehicle Depth:766.222749 # Seafloor Depth:-868.419037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 58.400442 meters # Minimum depth: 866.999327 meters looking forward 200.000000 meters along route # Maximum depth: 868.965209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.999327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787948; longitude = -118.644069; captureRadius = 10; duration = 58; initialDepth = 766.999327; finalDepth = 766.222749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.196288 # Altitude Set: 100 # Vehicle Depth:766.999327 # Seafloor Depth:-868.800910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 64.524217 meters # Minimum depth: 867.957712 meters looking forward 200.000000 meters along route # Maximum depth: 869.314948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.957712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787648; longitude = -118.643550; captureRadius = 10; duration = 64; initialDepth = 767.957712; finalDepth = 766.999327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.801583 # Altitude Set: 100 # Vehicle Depth:767.957712 # Seafloor Depth:-868.983045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 52.277045 meters # Minimum depth: 868.419037 meters looking forward 200.000000 meters along route # Maximum depth: 869.567100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.419037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787317; longitude = -118.642977; captureRadius = 10; duration = 52; initialDepth = 768.419037; finalDepth = 767.957712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.025333 # Altitude Set: 100 # Vehicle Depth:768.419037 # Seafloor Depth:-869.349736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 58.400821 meters # Minimum depth: 868.933096 meters looking forward 200.000000 meters along route # Maximum depth: 869.786537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.933096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787049; longitude = -118.642513; captureRadius = 10; duration = 58; initialDepth = 768.933096; finalDepth = 768.419037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.930699 # Altitude Set: 100 # Vehicle Depth:768.933096 # Seafloor Depth:-869.715986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.067311 meters # Minimum depth: 869.125064 meters looking forward 200.000000 meters along route # Maximum depth: 870.134148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.125064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786749; longitude = -118.641995; captureRadius = 10; duration = 53; initialDepth = 769.125064; finalDepth = 768.933096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.78289 # Altitude Set: 100 # Vehicle Depth:769.125064 # Seafloor Depth:-869.885136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 35.328240 meters # Minimum depth: 869.349736 meters looking forward 200.000000 meters along route # Maximum depth: 870.134148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.349736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786477; longitude = -118.641523; captureRadius = 10; duration = 35; initialDepth = 769.349736; finalDepth = 769.125064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.760072 # Altitude Set: 100 # Vehicle Depth:769.349736 # Seafloor Depth:-870.016418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460991 meters # Minimum depth: 869.250424 meters looking forward 200.000000 meters along route # Maximum depth: 870.134148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 769.250424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786737; longitude = -118.641303; captureRadius = 10; duration = 55; initialDepth = 769.250424; finalDepth = 769.349736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.666682 # Altitude Set: 100 # Vehicle Depth:769.250424 # Seafloor Depth:-869.605054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460899 meters # Minimum depth: 868.476050 meters looking forward 200.000000 meters along route # Maximum depth: 870.134148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.476050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787145; longitude = -118.640958; captureRadius = 10; duration = 55; initialDepth = 768.476050; finalDepth = 769.250424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.772634 # Altitude Set: 100 # Vehicle Depth:768.47605 # Seafloor Depth:-869.248684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460808 meters # Minimum depth: 868.070569 meters looking forward 200.000000 meters along route # Maximum depth: 869.889067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 768.070569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787554; longitude = -118.640612; captureRadius = 10; duration = 55; initialDepth = 768.070569; finalDepth = 768.476050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.772634 # Altitude Set: 100 # Vehicle Depth:768.070569 # Seafloor Depth:-868.348983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460715 meters # Minimum depth: 867.434818 meters looking forward 200.000000 meters along route # Maximum depth: 869.432497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.434818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787962; longitude = -118.640266; captureRadius = 10; duration = 55; initialDepth = 767.434818; finalDepth = 768.070569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.512244 # Altitude Set: 100 # Vehicle Depth:767.434818 # Seafloor Depth:-867.947062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460623 meters # Minimum depth: 866.611274 meters looking forward 200.000000 meters along route # Maximum depth: 868.932702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.611274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788371; longitude = -118.639920; captureRadius = 10; duration = 55; initialDepth = 766.611274; finalDepth = 767.434818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.784751 # Altitude Set: 100 # Vehicle Depth:766.611274 # Seafloor Depth:-867.396025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 59.726497 meters # Minimum depth: 866.133630 meters looking forward 200.000000 meters along route # Maximum depth: 868.159806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.133630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788779; longitude = -118.639575; captureRadius = 10; duration = 59; initialDepth = 766.133630; finalDepth = 766.611274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.784751 # Altitude Set: 100 # Vehicle Depth:766.13363 # Seafloor Depth:-866.488293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.194473 meters # Minimum depth: 865.864243 meters looking forward 200.000000 meters along route # Maximum depth: 867.714391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.864243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789219; longitude = -118.639202; captureRadius = 10; duration = 51; initialDepth = 765.864243; finalDepth = 766.133630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.354663 # Altitude Set: 100 # Vehicle Depth:765.864243 # Seafloor Depth:-866.117427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460347 meters # Minimum depth: 865.864243 meters looking forward 200.000000 meters along route # Maximum depth: 866.846858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.864243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789596; longitude = -118.638883; captureRadius = 10; duration = 55; initialDepth = 765.864243; finalDepth = 765.864243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.253184 # Altitude Set: 100 # Vehicle Depth:765.864243 # Seafloor Depth:-865.876576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 57.676558 meters # Minimum depth: 865.864243 meters looking forward 200.000000 meters along route # Maximum depth: 867.356659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.864243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790004; longitude = -118.638538; captureRadius = 10; duration = 57; initialDepth = 765.864243; finalDepth = 765.864243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.689383 # Altitude Set: 100 # Vehicle Depth:765.864243 # Seafloor Depth:-866.553626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.243860 meters # Minimum depth: 865.864243 meters looking forward 200.000000 meters along route # Maximum depth: 867.606095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.864243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790429; longitude = -118.638178; captureRadius = 10; duration = 53; initialDepth = 765.864243; finalDepth = 765.864243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.507276 # Altitude Set: 100 # Vehicle Depth:765.864243 # Seafloor Depth:-867.371519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.460071 meters # Minimum depth: 866.121951 meters looking forward 200.000000 meters along route # Maximum depth: 867.709705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.121951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790821; longitude = -118.637846; captureRadius = 10; duration = 55; initialDepth = 766.121951; finalDepth = 765.864243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.507276 # Altitude Set: 100 # Vehicle Depth:766.121951 # Seafloor Depth:-867.623783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.626639 meters # Minimum depth: 867.018073 meters looking forward 200.000000 meters along route # Maximum depth: 868.023871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.018073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791229; longitude = -118.637500; captureRadius = 10; duration = 55; initialDepth = 767.018073; finalDepth = 766.121951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.501832 # Altitude Set: 100 # Vehicle Depth:767.018073 # Seafloor Depth:-867.817542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.293226 meters # Minimum depth: 867.519466 meters looking forward 200.000000 meters along route # Maximum depth: 868.196997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.519466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791639; longitude = -118.637154; captureRadius = 10; duration = 55; initialDepth = 767.519466; finalDepth = 767.018073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.799469 # Altitude Set: 100 # Vehicle Depth:767.519466 # Seafloor Depth:-868.024039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.459795 meters # Minimum depth: 867.636848 meters looking forward 200.000000 meters along route # Maximum depth: 868.269173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.636848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792046; longitude = -118.636809; captureRadius = 10; duration = 55; initialDepth = 767.636848; finalDepth = 767.519466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.590909 # Altitude Set: 100 # Vehicle Depth:767.636848 # Seafloor Depth:-868.227757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.459703 meters # Minimum depth: 867.973534 meters looking forward 200.000000 meters along route # Maximum depth: 868.269173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.973534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792454; longitude = -118.636463; captureRadius = 10; duration = 55; initialDepth = 767.973534; finalDepth = 767.636848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.590909 # Altitude Set: 100 # Vehicle Depth:767.973534 # Seafloor Depth:-868.033172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.459610 meters # Minimum depth: 867.973534 meters looking forward 200.000000 meters along route # Maximum depth: 868.540427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.973534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792862; longitude = -118.636118; captureRadius = 10; duration = 55; initialDepth = 767.973534; finalDepth = 767.973534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.176571 # Altitude Set: 100 # Vehicle Depth:767.973534 # Seafloor Depth:-868.150105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 60.035334 meters # Minimum depth: 867.923125 meters looking forward 200.000000 meters along route # Maximum depth: 868.540427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.923125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793271; longitude = -118.635772; captureRadius = 10; duration = 60; initialDepth = 767.923125; finalDepth = 767.973534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.57435 # Altitude Set: 100 # Vehicle Depth:767.923125 # Seafloor Depth:-868.497475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.883611 meters # Minimum depth: 867.888150 meters looking forward 200.000000 meters along route # Maximum depth: 868.540427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.888150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793713; longitude = -118.635398; captureRadius = 10; duration = 50; initialDepth = 767.888150; finalDepth = 767.923125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.57435 # Altitude Set: 100 # Vehicle Depth:767.88815 # Seafloor Depth:-867.888150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.459334 meters # Minimum depth: 867.888150 meters looking forward 200.000000 meters along route # Maximum depth: 868.540427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.888150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794087; longitude = -118.635081; captureRadius = 10; duration = 55; initialDepth = 767.888150; finalDepth = 767.888150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.269427 # Altitude Set: 100 # Vehicle Depth:767.88815 # Seafloor Depth:-868.157577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 57.985431 meters # Minimum depth: 867.853147 meters looking forward 200.000000 meters along route # Maximum depth: 868.296140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 767.853147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794496; longitude = -118.634735; captureRadius = 10; duration = 57; initialDepth = 767.853147; finalDepth = 767.888150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.269427 # Altitude Set: 100 # Vehicle Depth:767.853147 # Seafloor Depth:-868.004971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.932962 meters # Minimum depth: 866.826192 meters looking forward 200.000000 meters along route # Maximum depth: 868.296140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 766.826192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.634373; captureRadius = 10; duration = 52; initialDepth = 766.826192; finalDepth = 767.853147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.135687 # Altitude Set: 100 # Vehicle Depth:766.826192 # Seafloor Depth:-867.961879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.459058 meters # Minimum depth: 864.898416 meters looking forward 200.000000 meters along route # Maximum depth: 868.277773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 764.898416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795313; longitude = -118.634043; captureRadius = 10; duration = 55; initialDepth = 764.898416; finalDepth = 766.826192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.701248 # Altitude Set: 100 # Vehicle Depth:764.898416 # Seafloor Depth:-866.599664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.935548 meters # Minimum depth: 863.141006 meters looking forward 200.000000 meters along route # Maximum depth: 867.966827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 763.141006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795721; longitude = -118.633698; captureRadius = 10; duration = 55; initialDepth = 763.141006; finalDepth = 764.898416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.701248 # Altitude Set: 100 # Vehicle Depth:763.141006 # Seafloor Depth:-864.358410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.982293 meters # Minimum depth: 862.540241 meters looking forward 200.000000 meters along route # Maximum depth: 867.608364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.540241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796133; longitude = -118.633349; captureRadius = 10; duration = 54; initialDepth = 762.540241; finalDepth = 763.141006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.217404 # Altitude Set: 100 # Vehicle Depth:762.540241 # Seafloor Depth:-863.130387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.458782 meters # Minimum depth: 861.580858 meters looking forward 200.000000 meters along route # Maximum depth: 865.451749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 761.580858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796538; longitude = -118.633006; captureRadius = 10; duration = 55; initialDepth = 761.580858; finalDepth = 762.540241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.773106 # Altitude Set: 100 # Vehicle Depth:761.580858 # Seafloor Depth:-862.353964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.458690 meters # Minimum depth: 859.890853 meters looking forward 200.000000 meters along route # Maximum depth: 863.707575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 759.890853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796946; longitude = -118.632661; captureRadius = 10; duration = 55; initialDepth = 759.890853; finalDepth = 761.580858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.315763 # Altitude Set: 100 # Vehicle Depth:759.890853 # Seafloor Depth:-861.206616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 55.458598 meters # Minimum depth: 858.521420 meters looking forward 200.000000 meters along route # Maximum depth: 862.908194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 758.521420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797354; longitude = -118.632315; captureRadius = 10; duration = 55; initialDepth = 758.521420; finalDepth = 759.890853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.322467 # Altitude Set: 100 # Vehicle Depth:758.52142 # Seafloor Depth:-859.843887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 60.344160 meters # Minimum depth: 857.337583 meters looking forward 200.000000 meters along route # Maximum depth: 861.802034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 757.337583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797763; longitude = -118.631969; captureRadius = 10; duration = 60; initialDepth = 757.337583; finalDepth = 758.521420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.322467 # Altitude Set: 100 # Vehicle Depth:757.337583 # Seafloor Depth:-858.330855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.572760 meters # Minimum depth: 855.889662 meters looking forward 200.000000 meters along route # Maximum depth: 860.527497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 755.889662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798207; longitude = -118.631593; captureRadius = 10; duration = 50; initialDepth = 755.889662; finalDepth = 757.337583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.344635 # Altitude Set: 100 # Vehicle Depth:755.889662 # Seafloor Depth:-857.234297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 66.802590 meters # Minimum depth: 854.062644 meters looking forward 200.000000 meters along route # Maximum depth: 858.521420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 754.062644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798579; longitude = -118.631278; captureRadius = 10; duration = 66; initialDepth = 754.062644; finalDepth = 755.889662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.693904 # Altitude Set: 100 # Vehicle Depth:754.062644 # Seafloor Depth:-855.756548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 62.600018 meters # Minimum depth: 852.596157 meters looking forward 200.000000 meters along route # Maximum depth: 857.337583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.596157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.630861; captureRadius = 10; duration = 62; initialDepth = 752.596157; finalDepth = 754.062644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.693904 # Altitude Set: 100 # Vehicle Depth:752.596157 # Seafloor Depth:-853.843381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 12.955383 meters # Minimum depth: 852.001139 meters looking forward 200.000000 meters along route # Maximum depth: 857.337583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 752.001139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799532; longitude = -118.630471; captureRadius = 10; duration = 12; initialDepth = 752.001139; finalDepth = 752.596157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.247224 # Altitude Set: 100 # Vehicle Depth:752.001139 # Seafloor Depth:-852.001139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 65.903376 meters # Minimum depth: 851.724898 meters looking forward 200.000000 meters along route # Maximum depth: 855.017789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.724898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799598; longitude = -118.630586; captureRadius = 10; duration = 65; initialDepth = 751.724898; finalDepth = 752.001139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.34528 # Altitude Set: 100 # Vehicle Depth:751.724898 # Seafloor Depth:-852.070178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.694796 meters # Minimum depth: 851.265837 meters looking forward 200.000000 meters along route # Maximum depth: 853.843381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 751.265837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.631173; captureRadius = 10; duration = 50; initialDepth = 751.265837; finalDepth = 751.724898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.380483 # Altitude Set: 100 # Vehicle Depth:751.265837 # Seafloor Depth:-851.646320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.298897 meters # Minimum depth: 849.898989 meters looking forward 200.000000 meters along route # Maximum depth: 852.126846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.898989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800195; longitude = -118.631624; captureRadius = 10; duration = 58; initialDepth = 749.898989; finalDepth = 751.265837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.025175 # Altitude Set: 100 # Vehicle Depth:749.898989 # Seafloor Depth:-850.924164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.988588 meters # Minimum depth: 849.847501 meters looking forward 200.000000 meters along route # Maximum depth: 851.959827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.847501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800493; longitude = -118.632142; captureRadius = 10; duration = 59; initialDepth = 749.847501; finalDepth = 749.898989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.025175 # Altitude Set: 100 # Vehicle Depth:749.847501 # Seafloor Depth:-849.847501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.608828 meters # Minimum depth: 849.584540 meters looking forward 200.000000 meters along route # Maximum depth: 851.315303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.584540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800800; longitude = -118.632676; captureRadius = 10; duration = 56; initialDepth = 749.584540; finalDepth = 749.847501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.286851 # Altitude Set: 100 # Vehicle Depth:749.58454 # Seafloor Depth:-849.871391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.298519 meters # Minimum depth: 849.088183 meters looking forward 200.000000 meters along route # Maximum depth: 850.117874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 749.088183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801089; longitude = -118.633179; captureRadius = 10; duration = 58; initialDepth = 749.088183; finalDepth = 749.584540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.635094 # Altitude Set: 100 # Vehicle Depth:749.088183 # Seafloor Depth:-849.723277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.298394 meters # Minimum depth: 848.099182 meters looking forward 200.000000 meters along route # Maximum depth: 850.117874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 748.099182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801387; longitude = -118.633698; captureRadius = 10; duration = 58; initialDepth = 748.099182; finalDepth = 749.088183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.732532 # Altitude Set: 100 # Vehicle Depth:748.099182 # Seafloor Depth:-848.831714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 63.367676 meters # Minimum depth: 847.033105 meters looking forward 200.000000 meters along route # Maximum depth: 849.723277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 747.033105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801686; longitude = -118.634216; captureRadius = 10; duration = 63; initialDepth = 747.033105; finalDepth = 748.099182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.979636 # Altitude Set: 100 # Vehicle Depth:747.033105 # Seafloor Depth:-848.012741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.228733 meters # Minimum depth: 846.917725 meters looking forward 200.000000 meters along route # Maximum depth: 849.210545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 746.917725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.634780; captureRadius = 10; duration = 53; initialDepth = 746.917725; finalDepth = 747.033105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.979636 # Altitude Set: 100 # Vehicle Depth:746.917725 # Seafloor Depth:-847.042767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.298016 meters # Minimum depth: 845.819339 meters looking forward 200.000000 meters along route # Maximum depth: 848.404300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.819339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802282; longitude = -118.635253; captureRadius = 10; duration = 58; initialDepth = 745.819339; finalDepth = 746.917725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.623888 # Altitude Set: 100 # Vehicle Depth:745.819339 # Seafloor Depth:-846.443227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.297890 meters # Minimum depth: 845.382141 meters looking forward 200.000000 meters along route # Maximum depth: 847.240677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 745.382141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802580; longitude = -118.635772; captureRadius = 10; duration = 58; initialDepth = 745.382141; finalDepth = 745.819339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.623888 # Altitude Set: 100 # Vehicle Depth:745.382141 # Seafloor Depth:-845.660266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 66.746704 meters # Minimum depth: 844.722977 meters looking forward 200.000000 meters along route # Maximum depth: 846.443227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 744.722977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802878; longitude = -118.636291; captureRadius = 10; duration = 66; initialDepth = 744.722977; finalDepth = 745.382141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.653053 # Altitude Set: 100 # Vehicle Depth:744.722977 # Seafloor Depth:-845.376030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.326205 meters # Minimum depth: 843.877469 meters looking forward 200.000000 meters along route # Maximum depth: 845.819339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.877469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.636884; captureRadius = 10; duration = 56; initialDepth = 743.877469; finalDepth = 744.722977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.760582 # Altitude Set: 100 # Vehicle Depth:743.877469 # Seafloor Depth:-844.638051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 29.034012 meters # Minimum depth: 843.657557 meters looking forward 200.000000 meters along route # Maximum depth: 845.447769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.657557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803508; longitude = -118.637385; captureRadius = 10; duration = 29; initialDepth = 743.657557; finalDepth = 743.877469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.760582 # Altitude Set: 100 # Vehicle Depth:743.657557 # Seafloor Depth:-843.824951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.326462 meters # Minimum depth: 843.000730 meters looking forward 200.000000 meters along route # Maximum depth: 845.180627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 743.000730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.637237; captureRadius = 10; duration = 65; initialDepth = 743.000730; finalDepth = 743.657557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.36446 # Altitude Set: 100 # Vehicle Depth:743.00073 # Seafloor Depth:-843.365190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.326368 meters # Minimum depth: 842.499181 meters looking forward 200.000000 meters along route # Maximum depth: 844.181537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 742.499181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804257; longitude = -118.636902; captureRadius = 10; duration = 65; initialDepth = 742.499181; finalDepth = 743.000730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.446953 # Altitude Set: 100 # Vehicle Depth:742.499181 # Seafloor Depth:-842.946134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.326277 meters # Minimum depth: 840.963327 meters looking forward 200.000000 meters along route # Maximum depth: 843.365190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.963327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804775; longitude = -118.636567; captureRadius = 10; duration = 65; initialDepth = 740.963327; finalDepth = 742.499181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.384 # Altitude Set: 100 # Vehicle Depth:740.963327 # Seafloor Depth:-842.347327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.326185 meters # Minimum depth: 840.118470 meters looking forward 200.000000 meters along route # Maximum depth: 842.946134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 740.118470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805294; longitude = -118.636233; captureRadius = 10; duration = 65; initialDepth = 740.118470; finalDepth = 740.963327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.384 # Altitude Set: 100 # Vehicle Depth:740.11847 # Seafloor Depth:-840.689297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.319172 meters # Minimum depth: 839.860746 meters looking forward 200.000000 meters along route # Maximum depth: 842.347327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 739.860746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805812; longitude = -118.635898; captureRadius = 10; duration = 58; initialDepth = 739.860746; finalDepth = 740.118470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 100.570827 # Altitude Set: 100 # Vehicle Depth:739.860746 # Seafloor Depth:-840.026933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.557597 meters # Minimum depth: 838.056895 meters looking forward 200.000000 meters along route # Maximum depth: 841.268249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 738.056895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806275; longitude = -118.635599; captureRadius = 10; duration = 50; initialDepth = 738.056895; finalDepth = 739.860746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.308356 # Altitude Set: 100 # Vehicle Depth:738.056895 # Seafloor Depth:-839.365251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325939 meters # Minimum depth: 837.656063 meters looking forward 200.000000 meters along route # Maximum depth: 840.211020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 737.656063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806677; longitude = -118.635340; captureRadius = 10; duration = 65; initialDepth = 737.656063; finalDepth = 738.056895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.308356 # Altitude Set: 100 # Vehicle Depth:737.656063 # Seafloor Depth:-837.678546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325847 meters # Minimum depth: 777.072362 meters looking forward 200.000000 meters along route # Maximum depth: 839.860746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 677.072362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807195; longitude = -118.635005; captureRadius = 10; duration = 65; initialDepth = 677.072362; finalDepth = 737.656063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 160.657648 # Altitude Set: 100 # Vehicle Depth:677.072362 # Seafloor Depth:-837.730010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325754 meters # Minimum depth: 775.153601 meters looking forward 200.000000 meters along route # Maximum depth: 837.836504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 675.153601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807714; longitude = -118.634671; captureRadius = 10; duration = 65; initialDepth = 675.153601; finalDepth = 677.072362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 160.657648 # Altitude Set: 100 # Vehicle Depth:675.153601 # Seafloor Depth:-776.721034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.133010 meters # Minimum depth: 773.591791 meters looking forward 200.000000 meters along route # Maximum depth: 837.730010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 673.591791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808232; longitude = -118.634336; captureRadius = 10; duration = 57; initialDepth = 673.591791; finalDepth = 675.153601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.567433 # Altitude Set: 100 # Vehicle Depth:673.591791 # Seafloor Depth:-774.852754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.743043 meters # Minimum depth: 772.193446 meters looking forward 200.000000 meters along route # Maximum depth: 777.331220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 672.193446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808686; longitude = -118.634043; captureRadius = 10; duration = 51; initialDepth = 672.193446; finalDepth = 673.591791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.260963 # Altitude Set: 100 # Vehicle Depth:672.193446 # Seafloor Depth:-773.193785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325509 meters # Minimum depth: 770.191822 meters looking forward 200.000000 meters along route # Maximum depth: 775.486447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 670.191822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809097; longitude = -118.633778; captureRadius = 10; duration = 65; initialDepth = 670.191822; finalDepth = 672.193446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.476502 # Altitude Set: 100 # Vehicle Depth:670.191822 # Seafloor Depth:-771.668324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325416 meters # Minimum depth: 768.141147 meters looking forward 200.000000 meters along route # Maximum depth: 773.591791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 668.141147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809615; longitude = -118.633444; captureRadius = 10; duration = 65; initialDepth = 668.141147; finalDepth = 670.191822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.5756 # Altitude Set: 100 # Vehicle Depth:668.141147 # Seafloor Depth:-769.716747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325325 meters # Minimum depth: 766.030718 meters looking forward 200.000000 meters along route # Maximum depth: 771.668324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 666.030718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810134; longitude = -118.633109; captureRadius = 10; duration = 65; initialDepth = 666.030718; finalDepth = 668.141147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.693136 # Altitude Set: 100 # Vehicle Depth:666.030718 # Seafloor Depth:-767.723854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.325232 meters # Minimum depth: 764.957689 meters looking forward 200.000000 meters along route # Maximum depth: 791.999100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 664.957689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810652; longitude = -118.632774; captureRadius = 10; duration = 65; initialDepth = 664.957689; finalDepth = 666.030718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 101.693136 # Altitude Set: 100 # Vehicle Depth:664.957689 # Seafloor Depth:-765.670028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.102728 meters # Minimum depth: 764.957689 meters looking forward 200.000000 meters along route # Maximum depth: 791.999100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 664.957689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.632440; captureRadius = 10; duration = 58; initialDepth = 664.957689; finalDepth = 664.957689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.969981 # Altitude Set: 100 # Vehicle Depth:664.957689 # Seafloor Depth:-791.927670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.772454 meters # Minimum depth: 764.957689 meters looking forward 200.000000 meters along route # Maximum depth: 791.999100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 664.957689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811632; longitude = -118.632142; captureRadius = 10; duration = 50; initialDepth = 664.957689; finalDepth = 664.957689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 126.969981 # Altitude Set: 100 # Vehicle Depth:664.957689 # Seafloor Depth:-790.456026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324987 meters # Minimum depth: 781.918485 meters looking forward 200.000000 meters along route # Maximum depth: 791.999100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 681.918485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812035; longitude = -118.631882; captureRadius = 10; duration = 65; initialDepth = 681.918485; finalDepth = 664.957689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.498337 # Altitude Set: 100 # Vehicle Depth:681.918485 # Seafloor Depth:-788.796051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324894 meters # Minimum depth: 782.484806 meters looking forward 200.000000 meters along route # Maximum depth: 791.010905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 682.484806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812554; longitude = -118.631547; captureRadius = 10; duration = 65; initialDepth = 682.484806; finalDepth = 681.918485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.877566 # Altitude Set: 100 # Vehicle Depth:682.484806 # Seafloor Depth:-787.031831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324802 meters # Minimum depth: 774.664515 meters looking forward 200.000000 meters along route # Maximum depth: 788.796051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 674.664515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813072; longitude = -118.631213; captureRadius = 10; duration = 65; initialDepth = 674.664515; finalDepth = 682.484806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.597086 # Altitude Set: 100 # Vehicle Depth:674.664515 # Seafloor Depth:-781.261601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.916585 meters # Minimum depth: 767.348416 meters looking forward 200.000000 meters along route # Maximum depth: 787.031831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 667.348416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813591; longitude = -118.630878; captureRadius = 10; duration = 56; initialDepth = 667.348416; finalDepth = 674.664515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.597086 # Altitude Set: 100 # Vehicle Depth:667.348416 # Seafloor Depth:-773.262160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.957881 meters # Minimum depth: 760.402770 meters looking forward 200.000000 meters along route # Maximum depth: 783.318723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 660.402770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814043; longitude = -118.630586; captureRadius = 10; duration = 51; initialDepth = 660.402770; finalDepth = 667.348416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.913744 # Altitude Set: 100 # Vehicle Depth:660.40277 # Seafloor Depth:-765.448227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324557 meters # Minimum depth: 749.821010 meters looking forward 200.000000 meters along route # Maximum depth: 776.120625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 649.821010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814455; longitude = -118.630320; captureRadius = 10; duration = 65; initialDepth = 649.821010; finalDepth = 660.402770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.764571 # Altitude Set: 100 # Vehicle Depth:649.82101 # Seafloor Depth:-757.585581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324464 meters # Minimum depth: 739.115369 meters looking forward 200.000000 meters along route # Maximum depth: 767.348416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 639.115369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814974; longitude = -118.629986; captureRadius = 10; duration = 65; initialDepth = 639.115369; finalDepth = 649.821010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.131688 # Altitude Set: 100 # Vehicle Depth:639.115369 # Seafloor Depth:-747.247057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324372 meters # Minimum depth: 728.360262 meters looking forward 200.000000 meters along route # Maximum depth: 757.585581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 628.360262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815492; longitude = -118.629651; captureRadius = 10; duration = 65; initialDepth = 628.360262; finalDepth = 639.115369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.526817 # Altitude Set: 100 # Vehicle Depth:628.360262 # Seafloor Depth:-736.887079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324280 meters # Minimum depth: 716.431220 meters looking forward 200.000000 meters along route # Maximum depth: 747.247057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 616.431220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816011; longitude = -118.629316; captureRadius = 10; duration = 65; initialDepth = 616.431220; finalDepth = 628.360262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.997167 # Altitude Set: 100 # Vehicle Depth:616.43122 # Seafloor Depth:-726.428387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.886290 meters # Minimum depth: 708.366497 meters looking forward 200.000000 meters along route # Maximum depth: 736.887079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 608.366497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816529; longitude = -118.628982; captureRadius = 10; duration = 57; initialDepth = 608.366497; finalDepth = 616.431220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.997167 # Altitude Set: 100 # Vehicle Depth:608.366497 # Seafloor Depth:-714.452896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.987306 meters # Minimum depth: 701.311400 meters looking forward 200.000000 meters along route # Maximum depth: 729.975064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 601.311400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816989; longitude = -118.628685; captureRadius = 10; duration = 50; initialDepth = 601.311400; finalDepth = 608.366497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.086399 # Altitude Set: 100 # Vehicle Depth:601.3114 # Seafloor Depth:-706.212934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.324034 meters # Minimum depth: 692.238863 meters looking forward 200.000000 meters along route # Maximum depth: 718.900652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 592.238863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817394; longitude = -118.628424; captureRadius = 10; duration = 65; initialDepth = 592.238863; finalDepth = 601.311400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.679352 # Altitude Set: 100 # Vehicle Depth:592.238863 # Seafloor Depth:-698.918215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323942 meters # Minimum depth: 683.281127 meters looking forward 200.000000 meters along route # Maximum depth: 708.366497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 583.281127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817912; longitude = -118.628089; captureRadius = 10; duration = 65; initialDepth = 583.281127; finalDepth = 592.238863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.00213 # Altitude Set: 100 # Vehicle Depth:583.281127 # Seafloor Depth:-690.283257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323850 meters # Minimum depth: 674.685988 meters looking forward 200.000000 meters along route # Maximum depth: 698.918215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 574.685988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818431; longitude = -118.627755; captureRadius = 10; duration = 65; initialDepth = 574.685988; finalDepth = 583.281127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.00213 # Altitude Set: 100 # Vehicle Depth:574.685988 # Seafloor Depth:-681.470316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323758 meters # Minimum depth: 667.041841 meters looking forward 200.000000 meters along route # Maximum depth: 690.283257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 567.041841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818949; longitude = -118.627420; captureRadius = 10; duration = 65; initialDepth = 567.041841; finalDepth = 574.685988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.784328 # Altitude Set: 100 # Vehicle Depth:567.041841 # Seafloor Depth:-673.366045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.855981 meters # Minimum depth: 662.202684 meters looking forward 200.000000 meters along route # Maximum depth: 681.470316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 562.202684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819468; longitude = -118.627085; captureRadius = 10; duration = 58; initialDepth = 562.202684; finalDepth = 567.041841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.324204 # Altitude Set: 100 # Vehicle Depth:562.202684 # Seafloor Depth:-666.183528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.016745 meters # Minimum depth: 658.174746 meters looking forward 200.000000 meters along route # Maximum depth: 675.994519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 558.174746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819935; longitude = -118.626784; captureRadius = 10; duration = 50; initialDepth = 558.174746; finalDepth = 562.202684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.980844 # Altitude Set: 100 # Vehicle Depth:558.174746 # Seafloor Depth:-660.918855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323512 meters # Minimum depth: 652.808926 meters looking forward 200.000000 meters along route # Maximum depth: 668.375082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 552.808926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820332; longitude = -118.626527; captureRadius = 10; duration = 65; initialDepth = 552.808926; finalDepth = 558.174746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.02727 # Altitude Set: 100 # Vehicle Depth:552.808926 # Seafloor Depth:-656.836196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323420 meters # Minimum depth: 647.738836 meters looking forward 200.000000 meters along route # Maximum depth: 662.202684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 547.738836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820851; longitude = -118.626193; captureRadius = 10; duration = 65; initialDepth = 547.738836; finalDepth = 552.808926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.02727 # Altitude Set: 100 # Vehicle Depth:547.738836 # Seafloor Depth:-651.735911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323328 meters # Minimum depth: 642.592094 meters looking forward 200.000000 meters along route # Maximum depth: 656.836196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 542.592094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821369; longitude = -118.625858; captureRadius = 10; duration = 65; initialDepth = 542.592094; finalDepth = 547.738836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.240418 # Altitude Set: 100 # Vehicle Depth:542.592094 # Seafloor Depth:-646.832512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.669858 meters # Minimum depth: 638.338283 meters looking forward 200.000000 meters along route # Maximum depth: 651.735911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 538.338283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821888; longitude = -118.625523; captureRadius = 10; duration = 57; initialDepth = 538.338283; finalDepth = 542.592094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.240418 # Altitude Set: 100 # Vehicle Depth:538.338283 # Seafloor Depth:-641.807973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.202151 meters # Minimum depth: 634.299230 meters looking forward 200.000000 meters along route # Maximum depth: 648.479799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 534.299230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822345; longitude = -118.625228; captureRadius = 10; duration = 51; initialDepth = 534.299230; finalDepth = 538.338283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.46969 # Altitude Set: 100 # Vehicle Depth:534.29923 # Seafloor Depth:-637.148575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.323082 meters # Minimum depth: 628.903309 meters looking forward 200.000000 meters along route # Maximum depth: 643.524111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 528.903309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822752; longitude = -118.624966; captureRadius = 10; duration = 65; initialDepth = 528.903309; finalDepth = 534.299230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.989527 # Altitude Set: 100 # Vehicle Depth:528.903309 # Seafloor Depth:-632.892836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322990 meters # Minimum depth: 623.693963 meters looking forward 200.000000 meters along route # Maximum depth: 638.338283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 523.693963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823270; longitude = -118.624631; captureRadius = 10; duration = 65; initialDepth = 523.693963; finalDepth = 528.903309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.989527 # Altitude Set: 100 # Vehicle Depth:523.693963 # Seafloor Depth:-627.663674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322898 meters # Minimum depth: 619.942260 meters looking forward 200.000000 meters along route # Maximum depth: 632.892836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 519.942260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823789; longitude = -118.624296; captureRadius = 10; duration = 65; initialDepth = 519.942260; finalDepth = 523.693963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.969711 # Altitude Set: 100 # Vehicle Depth:519.94226 # Seafloor Depth:-622.873714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322806 meters # Minimum depth: 616.438527 meters looking forward 200.000000 meters along route # Maximum depth: 627.663674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 516.438527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824308; longitude = -118.623962; captureRadius = 10; duration = 65; initialDepth = 516.438527; finalDepth = 519.942260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 102.952333 # Altitude Set: 100 # Vehicle Depth:516.438527 # Seafloor Depth:-619.390860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.639536 meters # Minimum depth: 612.314463 meters looking forward 200.000000 meters along route # Maximum depth: 622.873714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 512.314463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824826; longitude = -118.623627; captureRadius = 10; duration = 58; initialDepth = 512.314463; finalDepth = 516.438527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.495793 # Altitude Set: 100 # Vehicle Depth:512.314463 # Seafloor Depth:-615.810256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.231602 meters # Minimum depth: 608.082093 meters looking forward 200.000000 meters along route # Maximum depth: 620.484974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 508.082093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825292; longitude = -118.623327; captureRadius = 10; duration = 50; initialDepth = 508.082093; finalDepth = 512.314463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.495793 # Altitude Set: 100 # Vehicle Depth:508.082093 # Seafloor Depth:-611.025143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322561 meters # Minimum depth: 601.775766 meters looking forward 200.000000 meters along route # Maximum depth: 617.322334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 501.775766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825690; longitude = -118.623069; captureRadius = 10; duration = 65; initialDepth = 501.775766; finalDepth = 508.082093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.850422 # Altitude Set: 100 # Vehicle Depth:501.775766 # Seafloor Depth:-606.626188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322468 meters # Minimum depth: 594.903833 meters looking forward 200.000000 meters along route # Maximum depth: 612.314463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 494.903833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826209; longitude = -118.622735; captureRadius = 10; duration = 65; initialDepth = 494.903833; finalDepth = 501.775766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.453761 # Altitude Set: 100 # Vehicle Depth:494.903833 # Seafloor Depth:-600.357594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322376 meters # Minimum depth: 587.453543 meters looking forward 200.000000 meters along route # Maximum depth: 606.626188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 487.453543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826728; longitude = -118.622400; captureRadius = 10; duration = 65; initialDepth = 487.453543; finalDepth = 494.903833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.162947 # Altitude Set: 100 # Vehicle Depth:487.453543 # Seafloor Depth:-593.616490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.453433 meters # Minimum depth: 580.478896 meters looking forward 200.000000 meters along route # Maximum depth: 600.357594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 480.478896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827246; longitude = -118.622065; captureRadius = 10; duration = 57; initialDepth = 480.478896; finalDepth = 487.453543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.162947 # Altitude Set: 100 # Vehicle Depth:480.478896 # Seafloor Depth:-586.250939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.416989 meters # Minimum depth: 573.250677 meters looking forward 200.000000 meters along route # Maximum depth: 595.913992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 473.250677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827702; longitude = -118.621771; captureRadius = 10; duration = 51; initialDepth = 473.250677; finalDepth = 480.478896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.772043 # Altitude Set: 100 # Vehicle Depth:473.250677 # Seafloor Depth:-578.455634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322130 meters # Minimum depth: 561.939811 meters looking forward 200.000000 meters along route # Maximum depth: 588.839751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 461.939811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828110; longitude = -118.621508; captureRadius = 10; duration = 65; initialDepth = 461.939811; finalDepth = 473.250677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.451131 # Altitude Set: 100 # Vehicle Depth:461.939811 # Seafloor Depth:-570.390942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.322038 meters # Minimum depth: 549.501293 meters looking forward 200.000000 meters along route # Maximum depth: 580.478896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 449.501293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828629; longitude = -118.621173; captureRadius = 10; duration = 65; initialDepth = 449.501293; finalDepth = 461.939811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.661543 # Altitude Set: 100 # Vehicle Depth:449.501293 # Seafloor Depth:-559.162836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321947 meters # Minimum depth: 535.887504 meters looking forward 200.000000 meters along route # Maximum depth: 570.390942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 435.887504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829147; longitude = -118.620838; captureRadius = 10; duration = 65; initialDepth = 435.887504; finalDepth = 449.501293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.949104 # Altitude Set: 100 # Vehicle Depth:435.887504 # Seafloor Depth:-546.836608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321854 meters # Minimum depth: 522.387915 meters looking forward 200.000000 meters along route # Maximum depth: 559.162836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 422.387915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829666; longitude = -118.620504; captureRadius = 10; duration = 65; initialDepth = 422.387915; finalDepth = 435.887504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.292638 # Altitude Set: 100 # Vehicle Depth:422.387915 # Seafloor Depth:-533.680553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 58.423098 meters # Minimum depth: 511.503971 meters looking forward 200.000000 meters along route # Maximum depth: 546.836608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 411.503971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830185; longitude = -118.620169; captureRadius = 10; duration = 58; initialDepth = 411.503971; finalDepth = 422.387915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 111.292638 # Altitude Set: 100 # Vehicle Depth:411.503971 # Seafloor Depth:-520.483297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.446454 meters # Minimum depth: 502.743215 meters looking forward 200.000000 meters along route # Maximum depth: 537.979132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 402.743215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830648; longitude = -118.619870; captureRadius = 10; duration = 50; initialDepth = 402.743215; finalDepth = 411.503971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.979326 # Altitude Set: 100 # Vehicle Depth:402.743215 # Seafloor Depth:-508.710154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321608 meters # Minimum depth: 491.460278 meters looking forward 200.000000 meters along route # Maximum depth: 524.998700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 391.460278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831049; longitude = -118.619611; captureRadius = 10; duration = 65; initialDepth = 391.460278; finalDepth = 402.743215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.445887 # Altitude Set: 100 # Vehicle Depth:391.460278 # Seafloor Depth:-499.906165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321516 meters # Minimum depth: 480.055811 meters looking forward 200.000000 meters along route # Maximum depth: 511.503971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 380.055811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831567; longitude = -118.619276; captureRadius = 10; duration = 65; initialDepth = 380.055811; finalDepth = 391.460278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.859447 # Altitude Set: 100 # Vehicle Depth:380.055811 # Seafloor Depth:-488.915258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321424 meters # Minimum depth: 469.336645 meters looking forward 200.000000 meters along route # Maximum depth: 499.906165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 369.336645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832086; longitude = -118.618942; captureRadius = 10; duration = 65; initialDepth = 369.336645; finalDepth = 380.055811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.859447 # Altitude Set: 100 # Vehicle Depth:369.336645 # Seafloor Depth:-478.093093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 57.237014 meters # Minimum depth: 461.648663 meters looking forward 200.000000 meters along route # Maximum depth: 488.915258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 361.648663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832604; longitude = -118.618607; captureRadius = 10; duration = 57; initialDepth = 361.648663; finalDepth = 369.336645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.756448 # Altitude Set: 100 # Vehicle Depth:361.648663 # Seafloor Depth:-467.708531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.631822 meters # Minimum depth: 455.161547 meters looking forward 200.000000 meters along route # Maximum depth: 481.547920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 355.161547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833059; longitude = -118.618314; captureRadius = 10; duration = 51; initialDepth = 355.161547; finalDepth = 361.648663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.059868 # Altitude Set: 100 # Vehicle Depth:355.161547 # Seafloor Depth:-459.999536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321178 meters # Minimum depth: 444.277271 meters looking forward 200.000000 meters along route # Maximum depth: 471.167109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 344.277271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833469; longitude = -118.618049; captureRadius = 10; duration = 65; initialDepth = 344.277271; finalDepth = 355.161547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.981855 # Altitude Set: 100 # Vehicle Depth:344.277271 # Seafloor Depth:-452.259126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.321087 meters # Minimum depth: 434.893811 meters looking forward 200.000000 meters along route # Maximum depth: 461.648663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 334.893811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833987; longitude = -118.617715; captureRadius = 10; duration = 65; initialDepth = 334.893811; finalDepth = 344.277271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.981855 # Altitude Set: 100 # Vehicle Depth:334.893811 # Seafloor Depth:-441.865909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320994 meters # Minimum depth: 426.174781 meters looking forward 200.000000 meters along route # Maximum depth: 452.259126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 326.174781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834506; longitude = -118.617380; captureRadius = 10; duration = 65; initialDepth = 326.174781; finalDepth = 334.893811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.095931 # Altitude Set: 100 # Vehicle Depth:326.174781 # Seafloor Depth:-433.270712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320902 meters # Minimum depth: 413.830283 meters looking forward 200.000000 meters along route # Maximum depth: 441.865909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 313.830283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835024; longitude = -118.617045; captureRadius = 10; duration = 65; initialDepth = 313.830283; finalDepth = 326.174781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.261743 # Altitude Set: 100 # Vehicle Depth:313.830283 # Seafloor Depth:-424.092026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320810 meters # Minimum depth: 404.088552 meters looking forward 200.000000 meters along route # Maximum depth: 433.270712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 304.088552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835543; longitude = -118.616711; captureRadius = 10; duration = 65; initialDepth = 304.088552; finalDepth = 313.830283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 110.261743 # Altitude Set: 100 # Vehicle Depth:304.088552 # Seafloor Depth:-412.347842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320718 meters # Minimum depth: 394.843052 meters looking forward 200.000000 meters along route # Maximum depth: 424.092026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 294.843052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836062; longitude = -118.616376; captureRadius = 10; duration = 65; initialDepth = 294.843052; finalDepth = 304.088552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.25929 # Altitude Set: 100 # Vehicle Depth:294.843052 # Seafloor Depth:-403.053622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320626 meters # Minimum depth: 386.716926 meters looking forward 200.000000 meters along route # Maximum depth: 412.347842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 286.716926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836580; longitude = -118.616041; captureRadius = 10; duration = 65; initialDepth = 286.716926; finalDepth = 294.843052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.21057 # Altitude Set: 100 # Vehicle Depth:286.716926 # Seafloor Depth:-394.198028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 65.320534 meters # Minimum depth: 379.452477 meters looking forward 200.000000 meters along route # Maximum depth: 403.053622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 279.452477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837099; longitude = -118.615707; captureRadius = 10; duration = 65; initialDepth = 279.452477; finalDepth = 286.716926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.481102 # Altitude Set: 100 # Vehicle Depth:279.452477 # Seafloor Depth:-386.402882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 66.829494 meters # Minimum depth: 373.310077 meters looking forward 200.000000 meters along route # Maximum depth: 394.198028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 273.310077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837617; longitude = -118.615372; captureRadius = 10; duration = 66; initialDepth = 273.310077; finalDepth = 279.452477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.950405 # Altitude Set: 100 # Vehicle Depth:273.310077 # Seafloor Depth:-379.386290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 67.476133 meters # Minimum depth: 367.715103 meters looking forward 200.000000 meters along route # Maximum depth: 386.402882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 267.715103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838148; longitude = -118.615030; captureRadius = 10; duration = 67; initialDepth = 267.715103; finalDepth = 273.310077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.076213 # Altitude Set: 100 # Vehicle Depth:267.715103 # Seafloor Depth:-373.176542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 61.655422 meters # Minimum depth: 363.562182 meters looking forward 200.000000 meters along route # Maximum depth: 379.452477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 263.562182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838683; longitude = -118.614684; captureRadius = 10; duration = 61; initialDepth = 263.562182; finalDepth = 267.715103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.461439 # Altitude Set: 100 # Vehicle Depth:263.562182 # Seafloor Depth:-367.391118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.804581 meters # Minimum depth: 357.052487 meters looking forward 200.000000 meters along route # Maximum depth: 373.310077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 257.052487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839173; longitude = -118.614368; captureRadius = 10; duration = 50; initialDepth = 257.052487; finalDepth = 263.562182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.209354 # Altitude Set: 100 # Vehicle Depth:257.052487 # Seafloor Depth:-361.261841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 43.648112 meters # Minimum depth: 353.011365 meters looking forward 200.000000 meters along route # Maximum depth: 370.274499 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 253.011365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839576; longitude = -118.614108; captureRadius = 10; duration = 43; initialDepth = 253.011365; finalDepth = 257.052487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.209354 # Altitude Set: 100 # Vehicle Depth:253.011365 # Seafloor Depth:-356.447266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377639 meters # Minimum depth: 349.059428 meters looking forward 200.000000 meters along route # Maximum depth: 365.639539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 249.059428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839864; longitude = -118.613787; captureRadius = 10; duration = 52; initialDepth = 249.059428; finalDepth = 253.011365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.569114 # Altitude Set: 100 # Vehicle Depth:249.059428 # Seafloor Depth:-352.628542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377536 meters # Minimum depth: 344.750491 meters looking forward 200.000000 meters along route # Maximum depth: 361.261841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 244.750491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840210; longitude = -118.613401; captureRadius = 10; duration = 52; initialDepth = 244.750491; finalDepth = 249.059428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.569114 # Altitude Set: 100 # Vehicle Depth:244.750491 # Seafloor Depth:-348.213239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377433 meters # Minimum depth: 340.008774 meters looking forward 200.000000 meters along route # Maximum depth: 355.050911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 240.008774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840556; longitude = -118.613015; captureRadius = 10; duration = 52; initialDepth = 240.008774; finalDepth = 244.750491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.462748 # Altitude Set: 100 # Vehicle Depth:240.008774 # Seafloor Depth:-343.239185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377329 meters # Minimum depth: 332.836039 meters looking forward 200.000000 meters along route # Maximum depth: 351.038521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.836039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840901; longitude = -118.612630; captureRadius = 10; duration = 52; initialDepth = 232.836039; finalDepth = 240.008774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.113355 # Altitude Set: 100 # Vehicle Depth:232.836039 # Seafloor Depth:-337.949394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377227 meters # Minimum depth: 326.886534 meters looking forward 200.000000 meters along route # Maximum depth: 346.978305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 226.886534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841247; longitude = -118.612244; captureRadius = 10; duration = 52; initialDepth = 226.886534; finalDepth = 232.836039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.671231 # Altitude Set: 100 # Vehicle Depth:226.886534 # Seafloor Depth:-332.557765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377123 meters # Minimum depth: 320.266417 meters looking forward 200.000000 meters along route # Maximum depth: 340.565498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 220.266417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841593; longitude = -118.611859; captureRadius = 10; duration = 52; initialDepth = 220.266417; finalDepth = 226.886534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.671231 # Altitude Set: 100 # Vehicle Depth:220.266417 # Seafloor Depth:-325.792869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.377019 meters # Minimum depth: 313.218354 meters looking forward 200.000000 meters along route # Maximum depth: 335.364502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 213.218354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841938; longitude = -118.611473; captureRadius = 10; duration = 52; initialDepth = 213.218354; finalDepth = 220.266417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.526452 # Altitude Set: 100 # Vehicle Depth:213.218354 # Seafloor Depth:-318.275036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376916 meters # Minimum depth: 302.910902 meters looking forward 200.000000 meters along route # Maximum depth: 329.996900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 202.910902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842284; longitude = -118.611087; captureRadius = 10; duration = 52; initialDepth = 202.910902; finalDepth = 213.218354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.298001 # Altitude Set: 100 # Vehicle Depth:202.910902 # Seafloor Depth:-310.208903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376813 meters # Minimum depth: 296.549003 meters looking forward 200.000000 meters along route # Maximum depth: 323.638612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 196.549003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842630; longitude = -118.610702; captureRadius = 10; duration = 52; initialDepth = 196.549003; finalDepth = 202.910902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.298001 # Altitude Set: 100 # Vehicle Depth:196.549003 # Seafloor Depth:-302.788595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376710 meters # Minimum depth: 289.666453 meters looking forward 200.000000 meters along route # Maximum depth: 316.814482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 189.666453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842976; longitude = -118.610316; captureRadius = 10; duration = 52; initialDepth = 189.666453; finalDepth = 196.549003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.239592 # Altitude Set: 100 # Vehicle Depth:189.666453 # Seafloor Depth:-295.647015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376606 meters # Minimum depth: 282.529292 meters looking forward 200.000000 meters along route # Maximum depth: 306.368054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 182.529292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843321; longitude = -118.609931; captureRadius = 10; duration = 52; initialDepth = 182.529292; finalDepth = 189.666453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.980562 # Altitude Set: 100 # Vehicle Depth:182.529292 # Seafloor Depth:-287.875763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.279546 meters # Minimum depth: 272.677428 meters looking forward 200.000000 meters along route # Maximum depth: 299.764858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 172.677428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843667; longitude = -118.609545; captureRadius = 10; duration = 53; initialDepth = 172.677428; finalDepth = 182.529292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.39813 # Altitude Set: 100 # Vehicle Depth:172.677428 # Seafloor Depth:-280.075558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.473357 meters # Minimum depth: 265.832348 meters looking forward 200.000000 meters along route # Maximum depth: 293.162073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 165.832348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844019; longitude = -118.609153; captureRadius = 10; duration = 51; initialDepth = 165.832348; finalDepth = 172.677428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.39813 # Altitude Set: 100 # Vehicle Depth:165.832348 # Seafloor Depth:-272.549484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376296 meters # Minimum depth: 258.958295 meters looking forward 200.000000 meters along route # Maximum depth: 286.068848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 158.958295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844358; longitude = -118.608774; captureRadius = 10; duration = 52; initialDepth = 158.958295; finalDepth = 165.832348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.717136 # Altitude Set: 100 # Vehicle Depth:158.958295 # Seafloor Depth:-265.182686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376194 meters # Minimum depth: 251.687453 meters looking forward 200.000000 meters along route # Maximum depth: 276.345614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 151.687453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844704; longitude = -118.608388; captureRadius = 10; duration = 52; initialDepth = 151.687453; finalDepth = 158.958295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.224391 # Altitude Set: 100 # Vehicle Depth:151.687453 # Seafloor Depth:-257.443517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.376089 meters # Minimum depth: 244.470447 meters looking forward 200.000000 meters along route # Maximum depth: 269.202761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 144.470447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845050; longitude = -118.608003; captureRadius = 10; duration = 52; initialDepth = 144.470447; finalDepth = 151.687453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.756064 # Altitude Set: 100 # Vehicle Depth:144.470447 # Seafloor Depth:-249.327582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375987 meters # Minimum depth: 233.995967 meters looking forward 200.000000 meters along route # Maximum depth: 262.460229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 133.995967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845396; longitude = -118.607617; captureRadius = 10; duration = 52; initialDepth = 133.995967; finalDepth = 144.470447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.268038 # Altitude Set: 100 # Vehicle Depth:133.995967 # Seafloor Depth:-241.264005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375883 meters # Minimum depth: 227.811514 meters looking forward 200.000000 meters along route # Maximum depth: 255.342615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 127.811514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845741; longitude = -118.607231; captureRadius = 10; duration = 52; initialDepth = 127.811514; finalDepth = 133.995967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.268038 # Altitude Set: 100 # Vehicle Depth:127.811514 # Seafloor Depth:-233.621277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375780 meters # Minimum depth: 222.284438 meters looking forward 200.000000 meters along route # Maximum depth: 245.310495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 122.284438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846087; longitude = -118.606846; captureRadius = 10; duration = 52; initialDepth = 122.284438; finalDepth = 127.811514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.809763 # Altitude Set: 100 # Vehicle Depth:122.284438 # Seafloor Depth:-226.820374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375677 meters # Minimum depth: 217.035007 meters looking forward 200.000000 meters along route # Maximum depth: 237.342987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 117.035007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846433; longitude = -118.606460; captureRadius = 10; duration = 52; initialDepth = 117.035007; finalDepth = 122.284438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.535936 # Altitude Set: 100 # Vehicle Depth:117.035007 # Seafloor Depth:-220.793516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375573 meters # Minimum depth: 209.033099 meters looking forward 200.000000 meters along route # Maximum depth: 230.805237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 109.033099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846778; longitude = -118.606075; captureRadius = 10; duration = 52; initialDepth = 109.033099; finalDepth = 117.035007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.716914 # Altitude Set: 100 # Vehicle Depth:109.033099 # Seafloor Depth:-214.750013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375470 meters # Minimum depth: 204.312822 meters looking forward 200.000000 meters along route # Maximum depth: 224.977004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 104.312822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847124; longitude = -118.605689; captureRadius = 10; duration = 52; initialDepth = 104.312822; finalDepth = 109.033099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.716914 # Altitude Set: 100 # Vehicle Depth:104.312822 # Seafloor Depth:-208.937009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 52.375367 meters # Minimum depth: 199.959827 meters looking forward 200.000000 meters along route # Maximum depth: 219.720465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 99.959827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847470; longitude = -118.605304; captureRadius = 10; duration = 52; initialDepth = 99.959827; finalDepth = 104.312822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.624187 # Altitude Set: 100 # Vehicle Depth:99.959827 # Seafloor Depth:-203.696888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 58.696409 meters # Minimum depth: 194.136676 meters looking forward 200.000000 meters along route # Maximum depth: 211.749647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 94.136676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847815; longitude = -118.604918; captureRadius = 10; duration = 58; initialDepth = 94.136676; finalDepth = 99.959827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.763577 # Altitude Set: 100 # Vehicle Depth:94.136676 # Seafloor Depth:-198.900253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.783198 meters # Minimum depth: 188.892809 meters looking forward 200.000000 meters along route # Maximum depth: 206.610588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 88.892809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848203; longitude = -118.604486; captureRadius = 10; duration = 54; initialDepth = 88.892809; finalDepth = 94.136676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.763577 # Altitude Set: 100 # Vehicle Depth:88.892809 # Seafloor Depth:-193.526048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 35.183318 meters # Minimum depth: 185.093009 meters looking forward 200.000000 meters along route # Maximum depth: 202.107694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 85.093009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848564; longitude = -118.604082; captureRadius = 10; duration = 35; initialDepth = 85.093009; finalDepth = 88.892809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.633239 # Altitude Set: 100 # Vehicle Depth:85.093009 # Seafloor Depth:-188.030823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 66.680706 meters # Minimum depth: 177.633015 meters looking forward 200.000000 meters along route # Maximum depth: 196.552737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.633015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848853; longitude = -118.603923; captureRadius = 10; duration = 66; initialDepth = 77.633015; finalDepth = 85.093009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.314524 # Altitude Set: 100 # Vehicle Depth:77.633015 # Seafloor Depth:-183.947539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.979062 meters # Minimum depth: 175.661940 meters looking forward 200.000000 meters along route # Maximum depth: 191.597287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.661940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849399; longitude = -118.603622; captureRadius = 10; duration = 59; initialDepth = 75.661940; finalDepth = 77.633015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.314524 # Altitude Set: 100 # Vehicle Depth:75.66194 # Seafloor Depth:-177.449848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.617751 meters # Minimum depth: 167.941547 meters looking forward 200.000000 meters along route # Maximum depth: 185.093009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.941547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849890; longitude = -118.603350; captureRadius = 10; duration = 54; initialDepth = 67.941547; finalDepth = 75.661940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 104.120655 # Altitude Set: 100 # Vehicle Depth:67.941547 # Seafloor Depth:-172.062202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.931844 meters # Minimum depth: 161.192021 meters looking forward 200.000000 meters along route # Maximum depth: 179.271708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.192021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850337; longitude = -118.603103; captureRadius = 10; duration = 50; initialDepth = 61.192021; finalDepth = 67.941547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 105.273413 # Altitude Set: 100 # Vehicle Depth:61.192021 # Seafloor Depth:-166.465434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 63.664743 meters # Minimum depth: 150.454426 meters looking forward 200.000000 meters along route # Maximum depth: 175.720486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 50.454426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850754; longitude = -118.602872; captureRadius = 10; duration = 63; initialDepth = 50.454426; finalDepth = 61.192021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.760204 # Altitude Set: 100 # Vehicle Depth:50.454426 # Seafloor Depth:-159.214630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.994519 meters # Minimum depth: 145.627366 meters looking forward 200.000000 meters along route # Maximum depth: 167.941547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 45.627366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851275; longitude = -118.602584; captureRadius = 10; duration = 62; initialDepth = 45.627366; finalDepth = 50.454426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.760204 # Altitude Set: 100 # Vehicle Depth:45.627366 # Seafloor Depth:-150.416881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 63.329527 meters # Minimum depth: 136.577343 meters looking forward 200.000000 meters along route # Maximum depth: 159.214630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 36.577343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851791; longitude = -118.602299; captureRadius = 10; duration = 63; initialDepth = 36.577343; finalDepth = 45.627366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.493707 # Altitude Set: 100 # Vehicle Depth:36.577343 # Seafloor Depth:-143.071050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 64.669764 meters # Minimum depth: 126.182081 meters looking forward 200.000000 meters along route # Maximum depth: 150.454426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 26.182081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852310; longitude = -118.602013; captureRadius = 10; duration = 64; initialDepth = 26.182081; finalDepth = 36.577343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.855183 # Altitude Set: 100 # Vehicle Depth:26.182081 # Seafloor Depth:-135.037264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 61.989084 meters # Minimum depth: 120.219674 meters looking forward 200.000000 meters along route # Maximum depth: 143.071050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 20.219674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852839; longitude = -118.601720; captureRadius = 10; duration = 61; initialDepth = 20.219674; finalDepth = 26.182081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.855183 # Altitude Set: 100 # Vehicle Depth:20.219674 # Seafloor Depth:-125.993116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.606900 meters # Minimum depth: 108.658205 meters looking forward 200.000000 meters along route # Maximum depth: 136.577343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 8.658205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853347; longitude = -118.601440; captureRadius = 10; duration = 52; initialDepth = 8.658205; finalDepth = 20.219674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.332037 # Altitude Set: 100 # Vehicle Depth:8.658205 # Seafloor Depth:-116.990242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.941928 meters # Minimum depth: 97.867781 meters looking forward 200.000000 meters along route # Maximum depth: 129.176598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853777; longitude = -118.601202; captureRadius = 10; duration = 52; initialDepth = 3.000000; finalDepth = 8.658205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 108.332037 # Altitude Set: 100 # Vehicle Depth:3 # Seafloor Depth:-106.161665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 61.653830 meters # Minimum depth: 91.654280 meters looking forward 200.000000 meters along route # Maximum depth: 120.598457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854211; longitude = -118.600962; captureRadius = 10; duration = 61; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 103.161665 # Altitude Set: 100 # Vehicle Depth:3 # Seafloor Depth:-95.568488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 408.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 408.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 408.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.931376 meters # Minimum depth: 89.703624 meters looking forward 200.000000 meters along route # Maximum depth: 113.259729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854716; longitude = -118.600683; captureRadius = 10; duration = 50; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.568488 # Altitude Set: 92.568488 # Vehicle Depth:3 # Seafloor Depth:-90.885317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.68; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.28; MB_Bottom_Detect_Filter_Max_Range = 377.68; MB_Bottom_Detect_Filter_Min_Depth = 46.28; MB_Bottom_Detect_Filter_Max_Depth = 377.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 87.885317 # Altitude Set: 87.885317 # Vehicle Depth:3 # Seafloor Depth:-89.528605 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 358.57; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.94; MB_Bottom_Detect_Filter_Max_Range = 358.57; MB_Bottom_Detect_Filter_Min_Depth = 43.94; MB_Bottom_Detect_Filter_Max_Depth = 358.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 89.528605 meters looking forward 200.000000 meters along route # Maximum depth: 113.259729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855133; longitude = -118.600453; captureRadius = 10; duration = 500; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 205.646333; pitch = -15.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 25.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 205.646333; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 102.00; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 102.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 102.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################