# 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: SMBSurveyPlan03.rte # Mission File: SMBSurveyPlan03.cfg # Distance: 13794.764525 (m) # Estimated Time: 12766 (s) 3.546 (hr) # Abort Time: 16596 (s) # Way Points: 7 # Route Points: 132 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 20 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 850 (m) # Abort Vehicle Depth: 870 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 100 (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 -118.601778 33.855882 -90.114950 0.000000 1 # 1 -118.607021 33.850293 -179.971781 787.132771 1 # 2 -118.616470 33.841708 -351.747884 2079.866805 1 # 3 -118.637731 33.810076 -821.196615 6102.300767 1 # 4 -118.652251 33.792445 -862.206868 8475.223521 1 # 5 -118.663832 33.808693 -856.630127 10572.146107 1 # 6 -118.635023 33.792388 -868.426270 13794.764525 1 # # A total of 132 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 16596; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 850.000000; abortDepth = 870.000000; minAltitude = 20.000000; abortAltitude = 10.000000; } ####################################################### # 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 6 # Segment length 22.776036 meters # Minimum depth: 868.426270 meters looking forward 200.000000 meters along route # Maximum depth: 868.430873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.426270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792388; longitude = -118.635023; captureRadius = 10; duration = 22; initialDepth = 793.426270; finalDepth = 793.426270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75 # Altitude Set: 75 # Vehicle Depth:793.42627 # Seafloor Depth:-868.426270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 306.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 306.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.491924 meters # Minimum depth: 868.278453 meters looking forward 200.000000 meters along route # Maximum depth: 868.728002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.278453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792503; longitude = -118.635227; captureRadius = 10; duration = 102; initialDepth = 793.278453; finalDepth = 793.426270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.311503 # Altitude Set: 75.311503 # Vehicle Depth:793.278453 # Seafloor Depth:-868.589956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 37.66; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.491536 meters # Minimum depth: 868.208665 meters looking forward 200.000000 meters along route # Maximum depth: 868.728002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.208665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793021; longitude = -118.636143; captureRadius = 10; duration = 102; initialDepth = 793.208665; finalDepth = 793.278453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.311503 # Altitude Set: 75.311503 # Vehicle Depth:793.208665 # Seafloor Depth:-868.266044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 37.66; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.491147 meters # Minimum depth: 867.485126 meters looking forward 200.000000 meters along route # Maximum depth: 868.536712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.485126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793540; longitude = -118.637059; captureRadius = 10; duration = 102; initialDepth = 792.485126; finalDepth = 793.208665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.6400659999999 # Altitude Set: 75.6400659999999 # Vehicle Depth:792.485126 # Seafloor Depth:-868.125192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 308.61; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 308.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.490759 meters # Minimum depth: 860.947325 meters looking forward 200.000000 meters along route # Maximum depth: 868.001346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.947325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794059; longitude = -118.637975; captureRadius = 10; duration = 102; initialDepth = 785.947325; finalDepth = 792.485126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.327008 # Altitude Set: 81.327008 # Vehicle Depth:785.947325 # Seafloor Depth:-867.274333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.66; MB_Bottom_Detect_Filter_Max_Range = 331.81; MB_Bottom_Detect_Filter_Min_Depth = 40.66; MB_Bottom_Detect_Filter_Max_Depth = 331.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.490370 meters # Minimum depth: 853.983692 meters looking forward 200.000000 meters along route # Maximum depth: 866.499122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.983692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.638891; captureRadius = 10; duration = 102; initialDepth = 778.983692; finalDepth = 785.947325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.9137019999999 # Altitude Set: 81.9137019999999 # Vehicle Depth:778.983692 # Seafloor Depth:-860.897394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.96; MB_Bottom_Detect_Filter_Max_Range = 334.21; MB_Bottom_Detect_Filter_Min_Depth = 40.96; MB_Bottom_Detect_Filter_Max_Depth = 334.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.489982 meters # Minimum depth: 846.195354 meters looking forward 200.000000 meters along route # Maximum depth: 859.835023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.195354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.639807; captureRadius = 10; duration = 102; initialDepth = 771.195354; finalDepth = 778.983692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.291969 # Altitude Set: 82.291969 # Vehicle Depth:771.195354 # Seafloor Depth:-853.487323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.15; MB_Bottom_Detect_Filter_Max_Range = 335.75; MB_Bottom_Detect_Filter_Min_Depth = 41.15; MB_Bottom_Detect_Filter_Max_Depth = 335.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.514487 meters # Minimum depth: 838.023169 meters looking forward 200.000000 meters along route # Maximum depth: 852.660527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.023169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795614; longitude = -118.640724; captureRadius = 10; duration = 103; initialDepth = 763.023169; finalDepth = 771.195354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.291969 # Altitude Set: 82.291969 # Vehicle Depth:763.023169 # Seafloor Depth:-845.203805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.15; MB_Bottom_Detect_Filter_Max_Range = 335.75; MB_Bottom_Detect_Filter_Min_Depth = 41.15; MB_Bottom_Detect_Filter_Max_Depth = 335.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.464311 meters # Minimum depth: 834.044281 meters looking forward 200.000000 meters along route # Maximum depth: 844.629773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.044281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796138; longitude = -118.641649; captureRadius = 10; duration = 101; initialDepth = 759.044281; finalDepth = 763.023169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.1806359999999 # Altitude Set: 82.1806359999999 # Vehicle Depth:759.044281 # Seafloor Depth:-837.965517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.09; MB_Bottom_Detect_Filter_Max_Range = 335.30; MB_Bottom_Detect_Filter_Min_Depth = 41.09; MB_Bottom_Detect_Filter_Max_Depth = 335.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.488816 meters # Minimum depth: 832.257116 meters looking forward 200.000000 meters along route # Maximum depth: 836.939987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.257116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.642556; captureRadius = 10; duration = 102; initialDepth = 757.257116; finalDepth = 759.044281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.921236 # Altitude Set: 78.921236 # Vehicle Depth:757.257116 # Seafloor Depth:-833.934813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.46; MB_Bottom_Detect_Filter_Max_Range = 322.00; MB_Bottom_Detect_Filter_Min_Depth = 39.46; MB_Bottom_Detect_Filter_Max_Depth = 322.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.488428 meters # Minimum depth: 829.487600 meters looking forward 200.000000 meters along route # Maximum depth: 833.668177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.487600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797170; longitude = -118.643472; captureRadius = 10; duration = 102; initialDepth = 754.487600; finalDepth = 757.257116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.512761 # Altitude Set: 77.512761 # Vehicle Depth:754.4876 # Seafloor Depth:-832.000361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.76; MB_Bottom_Detect_Filter_Max_Range = 316.25; MB_Bottom_Detect_Filter_Min_Depth = 38.76; MB_Bottom_Detect_Filter_Max_Depth = 316.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.488040 meters # Minimum depth: 826.257208 meters looking forward 200.000000 meters along route # Maximum depth: 831.716878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 751.257208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797688; longitude = -118.644388; captureRadius = 10; duration = 102; initialDepth = 751.257208; finalDepth = 754.487600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.990239 # Altitude Set: 77.990239 # Vehicle Depth:751.257208 # Seafloor Depth:-829.247447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 318.20; MB_Bottom_Detect_Filter_Min_Depth = 39.00; MB_Bottom_Detect_Filter_Max_Depth = 318.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.487651 meters # Minimum depth: 816.581393 meters looking forward 200.000000 meters along route # Maximum depth: 828.710286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 741.581393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798207; longitude = -118.645304; captureRadius = 10; duration = 102; initialDepth = 741.581393; finalDepth = 751.257208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.562867 # Altitude Set: 84.562867 # Vehicle Depth:741.581393 # Seafloor Depth:-826.144260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.28; MB_Bottom_Detect_Filter_Max_Range = 345.02; MB_Bottom_Detect_Filter_Min_Depth = 42.28; MB_Bottom_Detect_Filter_Max_Depth = 345.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.487263 meters # Minimum depth: 807.147281 meters looking forward 200.000000 meters along route # Maximum depth: 825.420339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 732.147281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798726; longitude = -118.646221; captureRadius = 10; duration = 102; initialDepth = 732.147281; finalDepth = 741.581393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.562867 # Altitude Set: 84.562867 # Vehicle Depth:732.147281 # Seafloor Depth:-814.863535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.28; MB_Bottom_Detect_Filter_Max_Range = 345.02; MB_Bottom_Detect_Filter_Min_Depth = 42.28; MB_Bottom_Detect_Filter_Max_Depth = 345.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.486874 meters # Minimum depth: 807.147281 meters looking forward 200.000000 meters along route # Maximum depth: 820.955273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 732.147281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.647137; captureRadius = 10; duration = 102; initialDepth = 732.147281; finalDepth = 732.147281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.7162539999999 # Altitude Set: 82.7162539999999 # Vehicle Depth:732.147281 # Seafloor Depth:-809.101304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 337.48; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 337.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.486486 meters # Minimum depth: 812.214120 meters looking forward 200.000000 meters along route # Maximum depth: 821.366942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 737.214120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.648053; captureRadius = 10; duration = 102; initialDepth = 737.214120; finalDepth = 732.147281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.757839 # Altitude Set: 83.757839 # Vehicle Depth:737.21412 # Seafloor Depth:-820.971959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 341.73; MB_Bottom_Detect_Filter_Min_Depth = 41.88; MB_Bottom_Detect_Filter_Max_Depth = 341.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.486097 meters # Minimum depth: 820.068990 meters looking forward 200.000000 meters along route # Maximum depth: 821.366942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 745.068990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.648969; captureRadius = 10; duration = 102; initialDepth = 745.068990; finalDepth = 737.214120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.757839 # Altitude Set: 83.757839 # Vehicle Depth:745.06899 # Seafloor Depth:-820.897230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 341.73; MB_Bottom_Detect_Filter_Min_Depth = 41.88; MB_Bottom_Detect_Filter_Max_Depth = 341.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.442241 meters # Minimum depth: 819.784898 meters looking forward 200.000000 meters along route # Maximum depth: 820.818688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 744.784898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800800; longitude = -118.649885; captureRadius = 10; duration = 103; initialDepth = 744.784898; finalDepth = 745.068990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8282400000001 # Altitude Set: 75.8282400000001 # Vehicle Depth:744.784898 # Seafloor Depth:-820.071041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 309.38; MB_Bottom_Detect_Filter_Min_Depth = 37.91; MB_Bottom_Detect_Filter_Max_Depth = 309.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.528790 meters # Minimum depth: 819.784898 meters looking forward 200.000000 meters along route # Maximum depth: 821.396230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 744.784898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801323; longitude = -118.650810; captureRadius = 10; duration = 101; initialDepth = 744.784898; finalDepth = 744.784898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.286143 # Altitude Set: 75.286143 # Vehicle Depth:744.784898 # Seafloor Depth:-819.797546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.64; MB_Bottom_Detect_Filter_Max_Range = 307.17; MB_Bottom_Detect_Filter_Min_Depth = 37.64; MB_Bottom_Detect_Filter_Max_Depth = 307.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.484932 meters # Minimum depth: 819.946544 meters looking forward 200.000000 meters along route # Maximum depth: 822.769135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 744.946544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.651718; captureRadius = 10; duration = 102; initialDepth = 744.946544; finalDepth = 744.784898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.582366 # Altitude Set: 76.582366 # Vehicle Depth:744.946544 # Seafloor Depth:-821.528910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.29; MB_Bottom_Detect_Filter_Max_Range = 312.46; MB_Bottom_Detect_Filter_Min_Depth = 38.29; MB_Bottom_Detect_Filter_Max_Depth = 312.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.484544 meters # Minimum depth: 821.882408 meters looking forward 200.000000 meters along route # Maximum depth: 824.299759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 746.882408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.652634; captureRadius = 10; duration = 102; initialDepth = 746.882408; finalDepth = 744.946544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.582366 # Altitude Set: 76.582366 # Vehicle Depth:746.882408 # Seafloor Depth:-822.973065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.29; MB_Bottom_Detect_Filter_Max_Range = 312.46; MB_Bottom_Detect_Filter_Min_Depth = 38.29; MB_Bottom_Detect_Filter_Max_Depth = 312.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.484156 meters # Minimum depth: 823.141086 meters looking forward 200.000000 meters along route # Maximum depth: 824.943727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.141086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.653550; captureRadius = 10; duration = 102; initialDepth = 748.141086; finalDepth = 746.882408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.250772 # Altitude Set: 76.250772 # Vehicle Depth:748.141086 # Seafloor Depth:-824.391858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 311.10; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 311.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.483768 meters # Minimum depth: 824.725003 meters looking forward 200.000000 meters along route # Maximum depth: 825.537096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.725003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.654466; captureRadius = 10; duration = 102; initialDepth = 749.725003; finalDepth = 748.141086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.250772 # Altitude Set: 76.250772 # Vehicle Depth:749.725003 # Seafloor Depth:-824.927683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 311.10; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 311.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.483380 meters # Minimum depth: 824.804935 meters looking forward 200.000000 meters along route # Maximum depth: 829.759839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.804935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.655382; captureRadius = 10; duration = 102; initialDepth = 749.804935; finalDepth = 749.725003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.929998 # Altitude Set: 75.929998 # Vehicle Depth:749.804935 # Seafloor Depth:-825.734933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 309.79; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 309.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.482991 meters # Minimum depth: 825.956319 meters looking forward 200.000000 meters along route # Maximum depth: 837.021264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.956319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.656299; captureRadius = 10; duration = 102; initialDepth = 750.956319; finalDepth = 749.804935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.5184 # Altitude Set: 79.5184 # Vehicle Depth:750.956319 # Seafloor Depth:-830.474719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.76; MB_Bottom_Detect_Filter_Max_Range = 324.44; MB_Bottom_Detect_Filter_Min_Depth = 39.76; MB_Bottom_Detect_Filter_Max_Depth = 324.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.482603 meters # Minimum depth: 831.599228 meters looking forward 200.000000 meters along route # Maximum depth: 841.598193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.599228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804948; longitude = -118.657215; captureRadius = 10; duration = 102; initialDepth = 756.599228; finalDepth = 750.956319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.4906539999999 # Altitude Set: 80.4906539999999 # Vehicle Depth:756.599228 # Seafloor Depth:-837.089882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.25; MB_Bottom_Detect_Filter_Max_Range = 328.40; MB_Bottom_Detect_Filter_Min_Depth = 40.25; MB_Bottom_Detect_Filter_Max_Depth = 328.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.482214 meters # Minimum depth: 838.273101 meters looking forward 200.000000 meters along route # Maximum depth: 842.143860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.273101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.658131; captureRadius = 10; duration = 102; initialDepth = 763.273101; finalDepth = 756.599228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.4906539999999 # Altitude Set: 80.4906539999999 # Vehicle Depth:763.273101 # Seafloor Depth:-841.700296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.25; MB_Bottom_Detect_Filter_Max_Range = 328.40; MB_Bottom_Detect_Filter_Min_Depth = 40.25; MB_Bottom_Detect_Filter_Max_Depth = 328.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.370001 meters # Minimum depth: 841.323739 meters looking forward 200.000000 meters along route # Maximum depth: 842.143860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.323739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805985; longitude = -118.659047; captureRadius = 10; duration = 103; initialDepth = 766.323739; finalDepth = 763.273101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.427195 # Altitude Set: 78.427195 # Vehicle Depth:766.323739 # Seafloor Depth:-841.603972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 319.98; MB_Bottom_Detect_Filter_Min_Depth = 39.21; MB_Bottom_Detect_Filter_Max_Depth = 319.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.593264 meters # Minimum depth: 841.323739 meters looking forward 200.000000 meters along route # Maximum depth: 846.606919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.323739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806508; longitude = -118.659971; captureRadius = 10; duration = 101; initialDepth = 766.323739; finalDepth = 766.323739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8293699999999 # Altitude Set: 75.8293699999999 # Vehicle Depth:766.323739 # Seafloor Depth:-842.153109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 309.38; MB_Bottom_Detect_Filter_Min_Depth = 37.91; MB_Bottom_Detect_Filter_Max_Depth = 309.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.089440 meters # Minimum depth: 842.891107 meters looking forward 200.000000 meters along route # Maximum depth: 850.611395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.891107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807022; longitude = -118.660879; captureRadius = 10; duration = 111; initialDepth = 767.891107; finalDepth = 766.323739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.9417179999999 # Altitude Set: 78.9417179999999 # Vehicle Depth:767.891107 # Seafloor Depth:-846.832825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 322.08; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 322.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 116.008044 meters # Minimum depth: 848.521469 meters looking forward 200.000000 meters along route # Maximum depth: 853.971928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.521469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807585; longitude = -118.661873; captureRadius = 10; duration = 116; initialDepth = 773.521469; finalDepth = 767.891107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.9417179999999 # Altitude Set: 78.9417179999999 # Vehicle Depth:773.521469 # Seafloor Depth:-850.900237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 322.08; MB_Bottom_Detect_Filter_Min_Depth = 39.47; MB_Bottom_Detect_Filter_Max_Depth = 322.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.117843 meters # Minimum depth: 851.724854 meters looking forward 200.000000 meters along route # Maximum depth: 856.524445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.724854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808172; longitude = -118.662910; captureRadius = 10; duration = 103; initialDepth = 776.724854; finalDepth = 773.521469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7064419999999 # Altitude Set: 77.7064419999999 # Vehicle Depth:776.724854 # Seafloor Depth:-854.431296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 317.04; MB_Bottom_Detect_Filter_Min_Depth = 38.85; MB_Bottom_Detect_Filter_Max_Depth = 317.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 81.793142 meters # Minimum depth: 854.431296 meters looking forward 200.000000 meters along route # Maximum depth: 856.630127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.431296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808693; longitude = -118.663832; captureRadius = 10; duration = 81; initialDepth = 779.431296; finalDepth = 776.724854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7064419999999 # Altitude Set: 77.7064419999999 # Vehicle Depth:779.431296 # Seafloor Depth:-856.630127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 317.04; MB_Bottom_Detect_Filter_Min_Depth = 38.85; MB_Bottom_Detect_Filter_Max_Depth = 317.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 116.419515 meters # Minimum depth: 853.911216 meters looking forward 200.000000 meters along route # Maximum depth: 856.630127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.911216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808060; longitude = -118.663380; captureRadius = 10; duration = 116; initialDepth = 778.911216; finalDepth = 779.431296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.198831 # Altitude Set: 77.198831 # Vehicle Depth:778.911216 # Seafloor Depth:-855.826187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 314.97; MB_Bottom_Detect_Filter_Min_Depth = 38.60; MB_Bottom_Detect_Filter_Max_Depth = 314.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.653397 meters # Minimum depth: 852.712144 meters looking forward 200.000000 meters along route # Maximum depth: 855.072476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.712144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807157; longitude = -118.662737; captureRadius = 10; duration = 106; initialDepth = 777.712144; finalDepth = 778.911216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.914971 # Altitude Set: 76.914971 # Vehicle Depth:777.712144 # Seafloor Depth:-853.886060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.46; MB_Bottom_Detect_Filter_Max_Range = 313.81; MB_Bottom_Detect_Filter_Min_Depth = 38.46; MB_Bottom_Detect_Filter_Max_Depth = 313.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.424700 meters # Minimum depth: 852.099650 meters looking forward 200.000000 meters along route # Maximum depth: 853.794013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.099650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.662148; captureRadius = 10; duration = 112; initialDepth = 777.099650; finalDepth = 777.712144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.1739160000001 # Altitude Set: 76.1739160000001 # Vehicle Depth:777.09965 # Seafloor Depth:-852.518562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 310.79; MB_Bottom_Detect_Filter_Min_Depth = 38.09; MB_Bottom_Detect_Filter_Max_Depth = 310.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.649245 meters # Minimum depth: 851.877709 meters looking forward 200.000000 meters along route # Maximum depth: 852.358998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.877709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805460; longitude = -118.661527; captureRadius = 10; duration = 110; initialDepth = 776.877709; finalDepth = 777.099650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.418912 # Altitude Set: 75.418912 # Vehicle Depth:776.877709 # Seafloor Depth:-852.263931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 307.71; MB_Bottom_Detect_Filter_Min_Depth = 37.71; MB_Bottom_Detect_Filter_Max_Depth = 307.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.537360 meters # Minimum depth: 851.877709 meters looking forward 200.000000 meters along route # Maximum depth: 852.778177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.877709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804602; longitude = -118.660916; captureRadius = 10; duration = 111; initialDepth = 776.877709; finalDepth = 776.877709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.386222 # Altitude Set: 75.386222 # Vehicle Depth:776.877709 # Seafloor Depth:-851.917279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 307.58; MB_Bottom_Detect_Filter_Min_Depth = 37.69; MB_Bottom_Detect_Filter_Max_Depth = 307.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.080988 meters # Minimum depth: 852.203715 meters looking forward 200.000000 meters along route # Maximum depth: 853.421807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.203715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.660300; captureRadius = 10; duration = 122; initialDepth = 777.203715; finalDepth = 776.877709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.624997 # Altitude Set: 75.624997 # Vehicle Depth:777.203715 # Seafloor Depth:-852.828712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 308.55; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 308.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.994505 meters # Minimum depth: 853.129839 meters looking forward 200.000000 meters along route # Maximum depth: 854.656149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.129839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802792; longitude = -118.659626; captureRadius = 10; duration = 100; initialDepth = 778.129839; finalDepth = 777.203715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.624997 # Altitude Set: 75.624997 # Vehicle Depth:778.129839 # Seafloor Depth:-853.569327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 308.55; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 308.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 118.086152 meters # Minimum depth: 853.946912 meters looking forward 200.000000 meters along route # Maximum depth: 856.014700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.946912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.659068; captureRadius = 10; duration = 118; initialDepth = 778.946912; finalDepth = 778.129839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.779318 # Altitude Set: 75.779318 # Vehicle Depth:778.946912 # Seafloor Depth:-854.726230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.89; MB_Bottom_Detect_Filter_Max_Range = 309.18; MB_Bottom_Detect_Filter_Min_Depth = 37.89; MB_Bottom_Detect_Filter_Max_Depth = 309.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.990375 meters # Minimum depth: 854.954954 meters looking forward 200.000000 meters along route # Maximum depth: 857.121534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.954954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801095; longitude = -118.658416; captureRadius = 10; duration = 104; initialDepth = 779.954954; finalDepth = 778.946912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.1927549999999 # Altitude Set: 76.1927549999999 # Vehicle Depth:779.954954 # Seafloor Depth:-856.147709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 310.87; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 310.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.091279 meters # Minimum depth: 856.597954 meters looking forward 200.000000 meters along route # Maximum depth: 857.814527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.597954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.657836; captureRadius = 10; duration = 114; initialDepth = 781.597954; finalDepth = 779.954954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.1927549999999 # Altitude Set: 76.1927549999999 # Vehicle Depth:781.597954 # Seafloor Depth:-857.115744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 310.87; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 310.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.986280 meters # Minimum depth: 857.309821 meters looking forward 200.000000 meters along route # Maximum depth: 858.760365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.309821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799397; longitude = -118.657206; captureRadius = 10; duration = 108; initialDepth = 782.309821; finalDepth = 781.597954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.5612249999999 # Altitude Set: 75.5612249999999 # Vehicle Depth:782.309821 # Seafloor Depth:-857.871046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 308.29; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 308.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.539167 meters # Minimum depth: 858.287927 meters looking forward 200.000000 meters along route # Maximum depth: 858.910097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.287927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798553; longitude = -118.656604; captureRadius = 10; duration = 111; initialDepth = 783.287927; finalDepth = 782.309821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.5612249999999 # Altitude Set: 75.5612249999999 # Vehicle Depth:783.287927 # Seafloor Depth:-858.315271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 308.29; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 308.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.539425 meters # Minimum depth: 858.287927 meters looking forward 200.000000 meters along route # Maximum depth: 858.917822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.287927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797688; longitude = -118.655988; captureRadius = 10; duration = 111; initialDepth = 783.287927; finalDepth = 783.287927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.629895 # Altitude Set: 75.629895 # Vehicle Depth:783.287927 # Seafloor Depth:-858.917822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 308.57; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 308.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.539684 meters # Minimum depth: 858.321402 meters looking forward 200.000000 meters along route # Maximum depth: 858.801498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.321402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796824; longitude = -118.655372; captureRadius = 10; duration = 111; initialDepth = 783.321402; finalDepth = 783.287927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.629895 # Altitude Set: 75.629895 # Vehicle Depth:783.321402 # Seafloor Depth:-858.791273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 308.57; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 308.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 119.752843 meters # Minimum depth: 857.651754 meters looking forward 200.000000 meters along route # Maximum depth: 858.701429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.651754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795960; longitude = -118.654756; captureRadius = 10; duration = 119; initialDepth = 782.651754; finalDepth = 783.321402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.638355 # Altitude Set: 75.638355 # Vehicle Depth:782.651754 # Seafloor Depth:-858.290109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 308.60; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 308.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.327298 meters # Minimum depth: 857.651754 meters looking forward 200.000000 meters along route # Maximum depth: 858.286933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.651754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795032; longitude = -118.654094; captureRadius = 10; duration = 103; initialDepth = 782.651754; finalDepth = 782.651754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.638355 # Altitude Set: 75.638355 # Vehicle Depth:782.651754 # Seafloor Depth:-857.654035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 308.60; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 308.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.757913 meters # Minimum depth: 857.715560 meters looking forward 200.000000 meters along route # Maximum depth: 859.989227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.715560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794231; longitude = -118.653524; captureRadius = 10; duration = 115; initialDepth = 782.715560; finalDepth = 782.651754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.64612 # Altitude Set: 75.64612 # Vehicle Depth:782.71556 # Seafloor Depth:-858.361680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 308.64; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 308.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.759318 meters # Minimum depth: 858.698970 meters looking forward 200.000000 meters along route # Maximum depth: 862.015912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.698970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793334; longitude = -118.652884; captureRadius = 10; duration = 114; initialDepth = 783.698970; finalDepth = 782.715560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.363478 # Altitude Set: 76.363478 # Vehicle Depth:783.69897 # Seafloor Depth:-860.062448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 311.56; MB_Bottom_Detect_Filter_Min_Depth = 38.18; MB_Bottom_Detect_Filter_Max_Depth = 311.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 9.416684 meters # Minimum depth: 858.698970 meters looking forward 200.000000 meters along route # Maximum depth: 862.206868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.698970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792445; longitude = -118.652251; captureRadius = 10; duration = 9; initialDepth = 783.698970; finalDepth = 783.698970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.507898 # Altitude Set: 78.507898 # Vehicle Depth:783.69897 # Seafloor Depth:-862.206868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 320.31; MB_Bottom_Detect_Filter_Min_Depth = 39.25; MB_Bottom_Detect_Filter_Max_Depth = 320.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.661768 meters # Minimum depth: 860.054138 meters looking forward 200.000000 meters along route # Maximum depth: 862.206868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.054138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792515; longitude = -118.652193; captureRadius = 10; duration = 114; initialDepth = 785.054138; finalDepth = 783.698970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.507898 # Altitude Set: 78.507898 # Vehicle Depth:785.054138 # Seafloor Depth:-861.872559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 320.31; MB_Bottom_Detect_Filter_Min_Depth = 39.25; MB_Bottom_Detect_Filter_Max_Depth = 320.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.323141 meters # Minimum depth: 857.886370 meters looking forward 200.000000 meters along route # Maximum depth: 861.295730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.886370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793367; longitude = -118.651491; captureRadius = 10; duration = 116; initialDepth = 782.886370; finalDepth = 785.054138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.141753 # Altitude Set: 77.141753 # Vehicle Depth:782.88637 # Seafloor Depth:-860.028123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 314.74; MB_Bottom_Detect_Filter_Min_Depth = 38.57; MB_Bottom_Detect_Filter_Max_Depth = 314.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.322748 meters # Minimum depth: 854.426195 meters looking forward 200.000000 meters along route # Maximum depth: 858.893318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.426195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794231; longitude = -118.650780; captureRadius = 10; duration = 116; initialDepth = 779.426195; finalDepth = 782.886370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.276851 # Altitude Set: 78.276851 # Vehicle Depth:779.426195 # Seafloor Depth:-857.703046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.14; MB_Bottom_Detect_Filter_Max_Range = 319.37; MB_Bottom_Detect_Filter_Min_Depth = 39.14; MB_Bottom_Detect_Filter_Max_Depth = 319.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.322354 meters # Minimum depth: 850.325500 meters looking forward 200.000000 meters along route # Maximum depth: 856.182247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.325500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.650068; captureRadius = 10; duration = 116; initialDepth = 775.325500; finalDepth = 779.426195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.8592279999999 # Altitude Set: 78.8592279999999 # Vehicle Depth:775.3255 # Seafloor Depth:-854.184728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 321.75; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 321.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.366302 meters # Minimum depth: 846.065200 meters looking forward 200.000000 meters along route # Maximum depth: 853.644810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.065200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795960; longitude = -118.649356; captureRadius = 10; duration = 101; initialDepth = 771.065200; finalDepth = 775.325500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.8592279999999 # Altitude Set: 78.8592279999999 # Vehicle Depth:771.0652 # Seafloor Depth:-849.864078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 321.75; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 321.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.998148 meters # Minimum depth: 838.747842 meters looking forward 200.000000 meters along route # Maximum depth: 849.138332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.747842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796713; longitude = -118.648736; captureRadius = 10; duration = 112; initialDepth = 763.747842; finalDepth = 771.065200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.053467 # Altitude Set: 82.053467 # Vehicle Depth:763.747842 # Seafloor Depth:-845.801309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.03; MB_Bottom_Detect_Filter_Max_Range = 334.78; MB_Bottom_Detect_Filter_Min_Depth = 41.03; MB_Bottom_Detect_Filter_Max_Depth = 334.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.997776 meters # Minimum depth: 824.598547 meters looking forward 200.000000 meters along route # Maximum depth: 844.700413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.598547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797553; longitude = -118.648044; captureRadius = 10; duration = 112; initialDepth = 749.598547; finalDepth = 763.747842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.728841 # Altitude Set: 88.728841 # Vehicle Depth:749.598547 # Seafloor Depth:-838.327388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.36; MB_Bottom_Detect_Filter_Max_Range = 362.01; MB_Bottom_Detect_Filter_Min_Depth = 44.36; MB_Bottom_Detect_Filter_Max_Depth = 362.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.659129 meters # Minimum depth: 806.843406 meters looking forward 200.000000 meters along route # Maximum depth: 835.996120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 731.843406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798392; longitude = -118.647353; captureRadius = 10; duration = 114; initialDepth = 731.843406; finalDepth = 749.598547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.4391870000001 # Altitude Set: 92.4391870000001 # Vehicle Depth:731.843406 # Seafloor Depth:-824.282593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.22; MB_Bottom_Detect_Filter_Max_Range = 377.15; MB_Bottom_Detect_Filter_Min_Depth = 46.22; MB_Bottom_Detect_Filter_Max_Depth = 377.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.320464 meters # Minimum depth: 806.843406 meters looking forward 200.000000 meters along route # Maximum depth: 822.532222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 731.843406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.646651; captureRadius = 10; duration = 116; initialDepth = 731.843406; finalDepth = 731.843406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.4391870000001 # Altitude Set: 92.4391870000001 # Vehicle Depth:731.843406 # Seafloor Depth:-806.893698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.22; MB_Bottom_Detect_Filter_Max_Range = 377.15; MB_Bottom_Detect_Filter_Min_Depth = 46.22; MB_Bottom_Detect_Filter_Max_Depth = 377.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.320071 meters # Minimum depth: 813.774629 meters looking forward 200.000000 meters along route # Maximum depth: 827.575823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 738.774629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800108; longitude = -118.645940; captureRadius = 10; duration = 116; initialDepth = 738.774629; finalDepth = 731.843406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.125668 # Altitude Set: 84.125668 # Vehicle Depth:738.774629 # Seafloor Depth:-822.900297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.06; MB_Bottom_Detect_Filter_Max_Range = 343.23; MB_Bottom_Detect_Filter_Min_Depth = 42.06; MB_Bottom_Detect_Filter_Max_Depth = 343.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.319677 meters # Minimum depth: 825.390589 meters looking forward 200.000000 meters along route # Maximum depth: 833.519196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.390589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800973; longitude = -118.645228; captureRadius = 10; duration = 116; initialDepth = 750.390589; finalDepth = 738.774629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.125668 # Altitude Set: 84.125668 # Vehicle Depth:750.390589 # Seafloor Depth:-827.919997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.06; MB_Bottom_Detect_Filter_Max_Range = 343.23; MB_Bottom_Detect_Filter_Min_Depth = 42.06; MB_Bottom_Detect_Filter_Max_Depth = 343.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.363969 meters # Minimum depth: 828.833226 meters looking forward 200.000000 meters along route # Maximum depth: 838.034715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.833226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.644516; captureRadius = 10; duration = 101; initialDepth = 753.833226; finalDepth = 750.390589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.3189530000001 # Altitude Set: 80.3189530000001 # Vehicle Depth:753.833226 # Seafloor Depth:-834.152179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 327.70; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 327.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.995548 meters # Minimum depth: 834.956299 meters looking forward 200.000000 meters along route # Maximum depth: 840.455092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.956299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802590; longitude = -118.643896; captureRadius = 10; duration = 112; initialDepth = 759.956299; finalDepth = 753.833226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.3189530000001 # Altitude Set: 80.3189530000001 # Vehicle Depth:759.956299 # Seafloor Depth:-838.218715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 327.70; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 327.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.995176 meters # Minimum depth: 838.648682 meters looking forward 200.000000 meters along route # Maximum depth: 841.482382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.648682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803430; longitude = -118.643205; captureRadius = 10; duration = 112; initialDepth = 763.648682; finalDepth = 759.956299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.262416 # Altitude Set: 78.262416 # Vehicle Depth:763.648682 # Seafloor Depth:-840.570112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.13; MB_Bottom_Detect_Filter_Max_Range = 319.31; MB_Bottom_Detect_Filter_Min_Depth = 39.13; MB_Bottom_Detect_Filter_Max_Depth = 319.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.656490 meters # Minimum depth: 840.999198 meters looking forward 200.000000 meters along route # Maximum depth: 841.482382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.999198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804269; longitude = -118.642513; captureRadius = 10; duration = 114; initialDepth = 765.999198; finalDepth = 763.648682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.92143 # Altitude Set: 76.92143 # Vehicle Depth:765.999198 # Seafloor Depth:-841.477277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.46; MB_Bottom_Detect_Filter_Max_Range = 313.84; MB_Bottom_Detect_Filter_Min_Depth = 38.46; MB_Bottom_Detect_Filter_Max_Depth = 313.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.317788 meters # Minimum depth: 839.329532 meters looking forward 200.000000 meters along route # Maximum depth: 841.348833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.329532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805121; longitude = -118.641812; captureRadius = 10; duration = 116; initialDepth = 764.329532; finalDepth = 765.999198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.638399 # Altitude Set: 76.638399 # Vehicle Depth:764.329532 # Seafloor Depth:-840.967931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.32; MB_Bottom_Detect_Filter_Max_Range = 312.68; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 312.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.317394 meters # Minimum depth: 839.329532 meters looking forward 200.000000 meters along route # Maximum depth: 840.275462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.329532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805985; longitude = -118.641100; captureRadius = 10; duration = 116; initialDepth = 764.329532; finalDepth = 764.329532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.638399 # Altitude Set: 76.638399 # Vehicle Depth:764.329532 # Seafloor Depth:-839.600704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.32; MB_Bottom_Detect_Filter_Max_Range = 312.68; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 312.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.317000 meters # Minimum depth: 838.068089 meters looking forward 200.000000 meters along route # Maximum depth: 839.838246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.068089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806850; longitude = -118.640388; captureRadius = 10; duration = 116; initialDepth = 763.068089; finalDepth = 764.329532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.770157 # Altitude Set: 76.770157 # Vehicle Depth:763.068089 # Seafloor Depth:-839.838246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.39; MB_Bottom_Detect_Filter_Max_Range = 313.22; MB_Bottom_Detect_Filter_Min_Depth = 38.39; MB_Bottom_Detect_Filter_Max_Depth = 313.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.361637 meters # Minimum depth: 836.243975 meters looking forward 200.000000 meters along route # Maximum depth: 839.814898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.243975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807714; longitude = -118.639676; captureRadius = 10; duration = 101; initialDepth = 761.243975; finalDepth = 763.068089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.946114 # Altitude Set: 76.946114 # Vehicle Depth:761.243975 # Seafloor Depth:-838.190089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.47; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 38.47; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.992947 meters # Minimum depth: 830.978056 meters looking forward 200.000000 meters along route # Maximum depth: 837.952785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 755.978056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808467; longitude = -118.639056; captureRadius = 10; duration = 112; initialDepth = 755.978056; finalDepth = 761.243975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.1280929999999 # Altitude Set: 80.1280929999999 # Vehicle Depth:755.978056 # Seafloor Depth:-836.106149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.06; MB_Bottom_Detect_Filter_Max_Range = 326.92; MB_Bottom_Detect_Filter_Min_Depth = 40.06; MB_Bottom_Detect_Filter_Max_Depth = 326.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.576543 meters # Minimum depth: 822.585823 meters looking forward 200.000000 meters along route # Maximum depth: 835.395220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 747.585823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809307; longitude = -118.638365; captureRadius = 10; duration = 103; initialDepth = 747.585823; finalDepth = 755.978056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.943892 # Altitude Set: 82.943892 # Vehicle Depth:747.585823 # Seafloor Depth:-830.529715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.47; MB_Bottom_Detect_Filter_Max_Range = 338.41; MB_Bottom_Detect_Filter_Min_Depth = 41.47; MB_Bottom_Detect_Filter_Max_Depth = 338.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 76.309769 meters # Minimum depth: 814.513864 meters looking forward 200.000000 meters along route # Maximum depth: 830.978056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 739.513864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810076; longitude = -118.637731; captureRadius = 10; duration = 76; initialDepth = 739.513864; finalDepth = 747.585823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.943892 # Altitude Set: 82.943892 # Vehicle Depth:739.513864 # Seafloor Depth:-821.196615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.47; MB_Bottom_Detect_Filter_Max_Range = 338.41; MB_Bottom_Detect_Filter_Min_Depth = 41.47; MB_Bottom_Detect_Filter_Max_Depth = 338.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.869197 meters # Minimum depth: 805.221179 meters looking forward 200.000000 meters along route # Maximum depth: 822.585823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 730.221179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810676; longitude = -118.637328; captureRadius = 10; duration = 106; initialDepth = 730.221179; finalDepth = 739.513864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.013355 # Altitude Set: 84.013355 # Vehicle Depth:730.221179 # Seafloor Depth:-814.234534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.01; MB_Bottom_Detect_Filter_Max_Range = 342.77; MB_Bottom_Detect_Filter_Min_Depth = 42.01; MB_Bottom_Detect_Filter_Max_Depth = 342.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.907012 meters # Minimum depth: 796.046843 meters looking forward 200.000000 meters along route # Maximum depth: 812.505272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 721.046843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811517; longitude = -118.636763; captureRadius = 10; duration = 109; initialDepth = 721.046843; finalDepth = 730.221179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.013355 # Altitude Set: 84.013355 # Vehicle Depth:721.046843 # Seafloor Depth:-804.413283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.01; MB_Bottom_Detect_Filter_Max_Range = 342.77; MB_Bottom_Detect_Filter_Min_Depth = 42.01; MB_Bottom_Detect_Filter_Max_Depth = 342.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.264157 meters # Minimum depth: 786.653903 meters looking forward 200.000000 meters along route # Maximum depth: 802.368191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 711.653903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812381; longitude = -118.636182; captureRadius = 10; duration = 110; initialDepth = 711.653903; finalDepth = 721.046843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.36644 # Altitude Set: 83.36644 # Vehicle Depth:711.653903 # Seafloor Depth:-794.071849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.68; MB_Bottom_Detect_Filter_Max_Range = 340.14; MB_Bottom_Detect_Filter_Min_Depth = 41.68; MB_Bottom_Detect_Filter_Max_Depth = 340.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.549041 meters # Minimum depth: 782.516354 meters looking forward 200.000000 meters along route # Maximum depth: 791.884307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 707.516354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813248; longitude = -118.635599; captureRadius = 10; duration = 109; initialDepth = 707.516354; finalDepth = 711.653903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.417946 # Altitude Set: 82.417946 # Vehicle Depth:707.516354 # Seafloor Depth:-786.640789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.21; MB_Bottom_Detect_Filter_Max_Range = 336.27; MB_Bottom_Detect_Filter_Min_Depth = 41.21; MB_Bottom_Detect_Filter_Max_Depth = 336.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.377762 meters # Minimum depth: 773.467884 meters looking forward 200.000000 meters along route # Maximum depth: 785.084765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 698.467884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814109; longitude = -118.635020; captureRadius = 10; duration = 119; initialDepth = 698.467884; finalDepth = 707.516354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.732584 # Altitude Set: 83.732584 # Vehicle Depth:698.467884 # Seafloor Depth:-782.200468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.87; MB_Bottom_Detect_Filter_Max_Range = 341.63; MB_Bottom_Detect_Filter_Min_Depth = 41.87; MB_Bottom_Detect_Filter_Max_Depth = 341.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.434333 meters # Minimum depth: 758.688986 meters looking forward 200.000000 meters along route # Maximum depth: 781.861010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 683.688986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815048; longitude = -118.634389; captureRadius = 10; duration = 100; initialDepth = 683.688986; finalDepth = 698.467884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.488436 # Altitude Set: 88.488436 # Vehicle Depth:683.688986 # Seafloor Depth:-772.177422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.24; MB_Bottom_Detect_Filter_Max_Range = 361.03; MB_Bottom_Detect_Filter_Min_Depth = 44.24; MB_Bottom_Detect_Filter_Max_Depth = 361.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.905635 meters # Minimum depth: 745.248495 meters looking forward 200.000000 meters along route # Maximum depth: 770.445724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 670.248495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815838; longitude = -118.633858; captureRadius = 10; duration = 109; initialDepth = 670.248495; finalDepth = 683.688986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.488436 # Altitude Set: 88.488436 # Vehicle Depth:670.248495 # Seafloor Depth:-758.375443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.24; MB_Bottom_Detect_Filter_Max_Range = 361.03; MB_Bottom_Detect_Filter_Min_Depth = 44.24; MB_Bottom_Detect_Filter_Max_Depth = 361.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.696250 meters # Minimum depth: 731.106451 meters looking forward 200.000000 meters along route # Maximum depth: 754.292335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 656.106451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816702; longitude = -118.633277; captureRadius = 10; duration = 116; initialDepth = 656.106451; finalDepth = 670.248495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.126948 # Altitude Set: 88.126948 # Vehicle Depth:656.106451 # Seafloor Depth:-743.359829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.06; MB_Bottom_Detect_Filter_Max_Range = 359.56; MB_Bottom_Detect_Filter_Min_Depth = 44.06; MB_Bottom_Detect_Filter_Max_Depth = 359.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.114192 meters # Minimum depth: 717.874225 meters looking forward 200.000000 meters along route # Maximum depth: 741.466115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 642.874225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817620; longitude = -118.632661; captureRadius = 10; duration = 103; initialDepth = 642.874225; finalDepth = 656.106451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.400478 # Altitude Set: 87.400478 # Vehicle Depth:642.874225 # Seafloor Depth:-730.274703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 356.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.70; MB_Bottom_Detect_Filter_Max_Range = 356.59; MB_Bottom_Detect_Filter_Min_Depth = 43.70; MB_Bottom_Detect_Filter_Max_Depth = 356.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.904808 meters # Minimum depth: 706.383937 meters looking forward 200.000000 meters along route # Maximum depth: 728.396327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 631.383937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818431; longitude = -118.632116; captureRadius = 10; duration = 109; initialDepth = 631.383937; finalDepth = 642.874225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.400478 # Altitude Set: 87.400478 # Vehicle Depth:631.383937 # Seafloor Depth:-717.218198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 356.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.70; MB_Bottom_Detect_Filter_Max_Range = 356.59; MB_Bottom_Detect_Filter_Min_Depth = 43.70; MB_Bottom_Detect_Filter_Max_Depth = 356.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.014778 meters # Minimum depth: 692.548385 meters looking forward 200.000000 meters along route # Maximum depth: 713.735108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 617.548385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819295; longitude = -118.631535; captureRadius = 10; duration = 114; initialDepth = 617.548385; finalDepth = 631.383937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.0281289999999 # Altitude Set: 87.0281289999999 # Vehicle Depth:617.548385 # Seafloor Depth:-704.576514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.51; MB_Bottom_Detect_Filter_Max_Range = 355.07; MB_Bottom_Detect_Filter_Min_Depth = 43.51; MB_Bottom_Detect_Filter_Max_Depth = 355.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.794011 meters # Minimum depth: 682.271645 meters looking forward 200.000000 meters along route # Maximum depth: 702.256421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.271645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820191; longitude = -118.630932; captureRadius = 10; duration = 105; initialDepth = 607.271645; finalDepth = 617.548385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.0281289999999 # Altitude Set: 87.0281289999999 # Vehicle Depth:607.271645 # Seafloor Depth:-692.090843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.51; MB_Bottom_Detect_Filter_Max_Range = 355.07; MB_Bottom_Detect_Filter_Min_Depth = 43.51; MB_Bottom_Detect_Filter_Max_Depth = 355.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.903981 meters # Minimum depth: 673.094085 meters looking forward 200.000000 meters along route # Maximum depth: 690.149191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 598.094085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821023; longitude = -118.630373; captureRadius = 10; duration = 109; initialDepth = 598.094085; finalDepth = 607.271645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.8191979999999 # Altitude Set: 84.8191979999999 # Vehicle Depth:598.094085 # Seafloor Depth:-681.507740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.41; MB_Bottom_Detect_Filter_Max_Range = 346.06; MB_Bottom_Detect_Filter_Min_Depth = 42.41; MB_Bottom_Detect_Filter_Max_Depth = 346.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.333346 meters # Minimum depth: 662.260738 meters looking forward 200.000000 meters along route # Maximum depth: 679.294795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 587.260738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821888; longitude = -118.629792; captureRadius = 10; duration = 111; initialDepth = 587.260738; finalDepth = 598.094085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.2172280000001 # Altitude Set: 84.2172280000001 # Vehicle Depth:587.260738 # Seafloor Depth:-671.477966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.11; MB_Bottom_Detect_Filter_Max_Range = 343.61; MB_Bottom_Detect_Filter_Min_Depth = 42.11; MB_Bottom_Detect_Filter_Max_Depth = 343.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.473790 meters # Minimum depth: 652.826982 meters looking forward 200.000000 meters along route # Maximum depth: 669.708109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 577.826982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822763; longitude = -118.629204; captureRadius = 10; duration = 108; initialDepth = 577.826982; finalDepth = 587.260738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.308938 # Altitude Set: 84.308938 # Vehicle Depth:577.826982 # Seafloor Depth:-662.135920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.15; MB_Bottom_Detect_Filter_Max_Range = 343.98; MB_Bottom_Detect_Filter_Min_Depth = 42.15; MB_Bottom_Detect_Filter_Max_Depth = 343.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.903155 meters # Minimum depth: 643.340922 meters looking forward 200.000000 meters along route # Maximum depth: 660.267067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.340922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823616; longitude = -118.628630; captureRadius = 10; duration = 109; initialDepth = 568.340922; finalDepth = 577.826982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.308938 # Altitude Set: 84.308938 # Vehicle Depth:568.340922 # Seafloor Depth:-651.784685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.15; MB_Bottom_Detect_Filter_Max_Range = 343.98; MB_Bottom_Detect_Filter_Min_Depth = 42.15; MB_Bottom_Detect_Filter_Max_Depth = 343.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.902879 meters # Minimum depth: 632.505762 meters looking forward 200.000000 meters along route # Maximum depth: 649.605019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 557.505762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824480; longitude = -118.628049; captureRadius = 10; duration = 109; initialDepth = 557.505762; finalDepth = 568.340922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.724569 # Altitude Set: 83.724569 # Vehicle Depth:557.505762 # Seafloor Depth:-641.230331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.86; MB_Bottom_Detect_Filter_Max_Range = 341.60; MB_Bottom_Detect_Filter_Min_Depth = 41.86; MB_Bottom_Detect_Filter_Max_Depth = 341.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.902604 meters # Minimum depth: 625.351637 meters looking forward 200.000000 meters along route # Maximum depth: 639.149854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 550.351637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825345; longitude = -118.627468; captureRadius = 10; duration = 109; initialDepth = 550.351637; finalDepth = 557.505762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.724569 # Altitude Set: 83.724569 # Vehicle Depth:550.351637 # Seafloor Depth:-632.411071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.86; MB_Bottom_Detect_Filter_Max_Range = 341.60; MB_Bottom_Detect_Filter_Min_Depth = 41.86; MB_Bottom_Detect_Filter_Max_Depth = 341.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 117.765248 meters # Minimum depth: 613.212827 meters looking forward 200.000000 meters along route # Maximum depth: 630.071549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 538.212827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826209; longitude = -118.626888; captureRadius = 10; duration = 117; initialDepth = 538.212827; finalDepth = 550.351637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.017966 # Altitude Set: 86.017966 # Vehicle Depth:538.212827 # Seafloor Depth:-624.230793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.01; MB_Bottom_Detect_Filter_Max_Range = 350.95; MB_Bottom_Detect_Filter_Min_Depth = 43.01; MB_Bottom_Detect_Filter_Max_Depth = 350.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.039133 meters # Minimum depth: 601.026902 meters looking forward 200.000000 meters along route # Maximum depth: 622.094537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 526.026902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827135; longitude = -118.626265; captureRadius = 10; duration = 102; initialDepth = 526.026902; finalDepth = 538.212827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.3703770000001 # Altitude Set: 86.3703770000001 # Vehicle Depth:526.026902 # Seafloor Depth:-612.397279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 352.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.19; MB_Bottom_Detect_Filter_Max_Range = 352.39; MB_Bottom_Detect_Filter_Min_Depth = 43.19; MB_Bottom_Detect_Filter_Max_Depth = 352.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.901777 meters # Minimum depth: 587.876497 meters looking forward 200.000000 meters along route # Maximum depth: 610.926518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 512.876497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827937; longitude = -118.625726; captureRadius = 10; duration = 109; initialDepth = 512.876497; finalDepth = 526.026902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.642768 # Altitude Set: 87.642768 # Vehicle Depth:512.876497 # Seafloor Depth:-600.519265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 357.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.82; MB_Bottom_Detect_Filter_Max_Range = 357.58; MB_Bottom_Detect_Filter_Min_Depth = 43.82; MB_Bottom_Detect_Filter_Max_Depth = 357.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.083842 meters # Minimum depth: 568.525147 meters looking forward 200.000000 meters along route # Maximum depth: 596.755107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 493.525147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828802; longitude = -118.625145; captureRadius = 10; duration = 115; initialDepth = 493.525147; finalDepth = 512.876497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.2293410000001 # Altitude Set: 92.2293410000001 # Vehicle Depth:493.525147 # Seafloor Depth:-585.754488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 376.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.11; MB_Bottom_Detect_Filter_Max_Range = 376.30; MB_Bottom_Detect_Filter_Min_Depth = 46.11; MB_Bottom_Detect_Filter_Max_Depth = 376.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.718886 meters # Minimum depth: 549.303660 meters looking forward 200.000000 meters along route # Maximum depth: 582.707624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 474.303660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829707; longitude = -118.624537; captureRadius = 10; duration = 104; initialDepth = 474.303660; finalDepth = 493.525147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.295038 # Altitude Set: 93.295038 # Vehicle Depth:474.30366 # Seafloor Depth:-567.598698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 380.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.65; MB_Bottom_Detect_Filter_Max_Range = 380.64; MB_Bottom_Detect_Filter_Min_Depth = 46.65; MB_Bottom_Detect_Filter_Max_Depth = 380.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.900951 meters # Minimum depth: 530.718892 meters looking forward 200.000000 meters along route # Maximum depth: 564.594346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 455.718892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830530; longitude = -118.623983; captureRadius = 10; duration = 109; initialDepth = 455.718892; finalDepth = 474.303660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.295038 # Altitude Set: 93.295038 # Vehicle Depth:455.718892 # Seafloor Depth:-547.992508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 380.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.65; MB_Bottom_Detect_Filter_Max_Range = 380.64; MB_Bottom_Detect_Filter_Min_Depth = 46.65; MB_Bottom_Detect_Filter_Max_Depth = 380.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 112.402476 meters # Minimum depth: 507.253884 meters looking forward 200.000000 meters along route # Maximum depth: 542.802986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 432.253884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831395; longitude = -118.623402; captureRadius = 10; duration = 112; initialDepth = 432.253884; finalDepth = 455.718892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 95.266458 # Altitude Set: 95.266458 # Vehicle Depth:432.253884 # Seafloor Depth:-527.520342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 388.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.63; MB_Bottom_Detect_Filter_Max_Range = 388.69; MB_Bottom_Detect_Filter_Min_Depth = 47.63; MB_Bottom_Detect_Filter_Max_Depth = 388.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.398600 meters # Minimum depth: 492.260485 meters looking forward 200.000000 meters along route # Maximum depth: 523.552736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 417.260485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832278; longitude = -118.622808; captureRadius = 10; duration = 107; initialDepth = 417.260485; finalDepth = 432.253884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 95.266458 # Altitude Set: 95.266458 # Vehicle Depth:417.260485 # Seafloor Depth:-506.850180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 388.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.63; MB_Bottom_Detect_Filter_Max_Range = 388.69; MB_Bottom_Detect_Filter_Min_Depth = 47.63; MB_Bottom_Detect_Filter_Max_Depth = 388.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.900124 meters # Minimum depth: 479.564982 meters looking forward 200.000000 meters along route # Maximum depth: 503.780414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 404.564982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833123; longitude = -118.622240; captureRadius = 10; duration = 109; initialDepth = 404.564982; finalDepth = 417.260485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.589695 # Altitude Set: 89.589695 # Vehicle Depth:404.564982 # Seafloor Depth:-490.944814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.79; MB_Bottom_Detect_Filter_Max_Range = 365.53; MB_Bottom_Detect_Filter_Min_Depth = 44.79; MB_Bottom_Detect_Filter_Max_Depth = 365.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.899849 meters # Minimum depth: 460.914627 meters looking forward 200.000000 meters along route # Maximum depth: 487.967626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 385.914627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833987; longitude = -118.621660; captureRadius = 10; duration = 109; initialDepth = 385.914627; finalDepth = 404.564982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.634859 # Altitude Set: 90.634859 # Vehicle Depth:385.914627 # Seafloor Depth:-476.549486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.32; MB_Bottom_Detect_Filter_Max_Range = 369.79; MB_Bottom_Detect_Filter_Min_Depth = 45.32; MB_Bottom_Detect_Filter_Max_Depth = 369.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.899574 meters # Minimum depth: 447.597426 meters looking forward 200.000000 meters along route # Maximum depth: 473.407768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 372.597426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834852; longitude = -118.621079; captureRadius = 10; duration = 109; initialDepth = 372.597426; finalDepth = 385.914627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.634859 # Altitude Set: 90.634859 # Vehicle Depth:372.597426 # Seafloor Depth:-460.890307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.32; MB_Bottom_Detect_Filter_Max_Range = 369.79; MB_Bottom_Detect_Filter_Min_Depth = 45.32; MB_Bottom_Detect_Filter_Max_Depth = 369.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.834188 meters # Minimum depth: 433.717921 meters looking forward 200.000000 meters along route # Maximum depth: 456.546594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 358.717921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835716; longitude = -118.620498; captureRadius = 10; duration = 118; initialDepth = 358.717921; finalDepth = 372.597426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.292881 # Altitude Set: 88.292881 # Vehicle Depth:358.717921 # Seafloor Depth:-445.975667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.15; MB_Bottom_Detect_Filter_Max_Range = 360.23; MB_Bottom_Detect_Filter_Min_Depth = 44.15; MB_Bottom_Detect_Filter_Max_Depth = 360.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.964133 meters # Minimum depth: 416.935491 meters looking forward 200.000000 meters along route # Maximum depth: 443.419907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 341.935491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836650; longitude = -118.619870; captureRadius = 10; duration = 100; initialDepth = 341.935491; finalDepth = 358.717921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.217149 # Altitude Set: 90.217149 # Vehicle Depth:341.935491 # Seafloor Depth:-432.152640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.11; MB_Bottom_Detect_Filter_Max_Range = 368.09; MB_Bottom_Detect_Filter_Min_Depth = 45.11; MB_Bottom_Detect_Filter_Max_Depth = 368.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.898747 meters # Minimum depth: 404.278798 meters looking forward 200.000000 meters along route # Maximum depth: 429.812231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 329.278798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837444; longitude = -118.619336; captureRadius = 10; duration = 109; initialDepth = 329.278798; finalDepth = 341.935491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.217149 # Altitude Set: 90.217149 # Vehicle Depth:329.278798 # Seafloor Depth:-416.543004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.11; MB_Bottom_Detect_Filter_Max_Range = 368.09; MB_Bottom_Detect_Filter_Min_Depth = 45.11; MB_Bottom_Detect_Filter_Max_Depth = 368.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.152848 meters # Minimum depth: 388.593345 meters looking forward 200.000000 meters along route # Maximum depth: 412.516048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 313.593345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838309; longitude = -118.618755; captureRadius = 10; duration = 116; initialDepth = 313.593345; finalDepth = 329.278798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.789233 # Altitude Set: 88.789233 # Vehicle Depth:313.593345 # Seafloor Depth:-402.382578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.39; MB_Bottom_Detect_Filter_Max_Range = 362.26; MB_Bottom_Detect_Filter_Min_Depth = 44.39; MB_Bottom_Detect_Filter_Max_Depth = 362.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.643820 meters # Minimum depth: 375.570122 meters looking forward 200.000000 meters along route # Maximum depth: 399.592293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 300.570122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839222; longitude = -118.618141; captureRadius = 10; duration = 103; initialDepth = 300.570122; finalDepth = 313.593345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.789233 # Altitude Set: 88.789233 # Vehicle Depth:300.570122 # Seafloor Depth:-387.789850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.39; MB_Bottom_Detect_Filter_Max_Range = 362.26; MB_Bottom_Detect_Filter_Min_Depth = 44.39; MB_Bottom_Detect_Filter_Max_Depth = 362.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.897922 meters # Minimum depth: 364.721657 meters looking forward 200.000000 meters along route # Maximum depth: 385.765804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 289.721657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840037; longitude = -118.617593; captureRadius = 10; duration = 109; initialDepth = 289.721657; finalDepth = 300.570122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.219728 # Altitude Set: 87.219728 # Vehicle Depth:289.721657 # Seafloor Depth:-374.938885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.61; MB_Bottom_Detect_Filter_Max_Range = 355.86; MB_Bottom_Detect_Filter_Min_Depth = 43.61; MB_Bottom_Detect_Filter_Max_Depth = 355.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.571144 meters # Minimum depth: 353.124738 meters looking forward 200.000000 meters along route # Maximum depth: 372.491509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 278.124738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840901; longitude = -118.617012; captureRadius = 10; duration = 102; initialDepth = 278.124738; finalDepth = 289.721657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.217228 # Altitude Set: 85.217228 # Vehicle Depth:278.124738 # Seafloor Depth:-362.773410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.61; MB_Bottom_Detect_Filter_Max_Range = 347.69; MB_Bottom_Detect_Filter_Min_Depth = 42.61; MB_Bottom_Detect_Filter_Max_Depth = 347.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 34.705085 meters # Minimum depth: 348.841198 meters looking forward 200.000000 meters along route # Maximum depth: 368.338165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 273.841198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841708; longitude = -118.616470; captureRadius = 10; duration = 34; initialDepth = 273.841198; finalDepth = 278.124738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.648672 # Altitude Set: 84.648672 # Vehicle Depth:273.841198 # Seafloor Depth:-351.747884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.32; MB_Bottom_Detect_Filter_Max_Range = 345.37; MB_Bottom_Detect_Filter_Min_Depth = 42.32; MB_Bottom_Detect_Filter_Max_Depth = 345.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.114984 meters # Minimum depth: 337.414493 meters looking forward 200.000000 meters along route # Maximum depth: 357.842948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 262.414493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841938; longitude = -118.616217; captureRadius = 10; duration = 104; initialDepth = 262.414493; finalDepth = 273.841198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.119373 # Altitude Set: 86.119373 # Vehicle Depth:262.414493 # Seafloor Depth:-348.533866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.06; MB_Bottom_Detect_Filter_Max_Range = 351.37; MB_Bottom_Detect_Filter_Min_Depth = 43.06; MB_Bottom_Detect_Filter_Max_Depth = 351.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.542977 meters # Minimum depth: 319.947466 meters looking forward 200.000000 meters along route # Maximum depth: 346.299914 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 244.947466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842630; longitude = -118.615455; captureRadius = 10; duration = 105; initialDepth = 244.947466; finalDepth = 262.414493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.711586 # Altitude Set: 90.711586 # Vehicle Depth:244.947466 # Seafloor Depth:-335.659052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.36; MB_Bottom_Detect_Filter_Max_Range = 370.10; MB_Bottom_Detect_Filter_Min_Depth = 45.36; MB_Bottom_Detect_Filter_Max_Depth = 370.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.685776 meters # Minimum depth: 303.656775 meters looking forward 200.000000 meters along route # Maximum depth: 334.069603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 228.656775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843331; longitude = -118.614684; captureRadius = 10; duration = 102; initialDepth = 228.656775; finalDepth = 244.947466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.073335 # Altitude Set: 91.073335 # Vehicle Depth:228.656775 # Seafloor Depth:-319.730110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 371.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 371.58; MB_Bottom_Detect_Filter_Min_Depth = 45.54; MB_Bottom_Detect_Filter_Max_Depth = 371.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.113769 meters # Minimum depth: 287.495569 meters looking forward 200.000000 meters along route # Maximum depth: 315.942283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 212.495569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844013; longitude = -118.613933; captureRadius = 10; duration = 104; initialDepth = 212.495569; finalDepth = 228.656775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.073335 # Altitude Set: 91.073335 # Vehicle Depth:212.495569 # Seafloor Depth:-302.162700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 371.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 371.58; MB_Bottom_Detect_Filter_Min_Depth = 45.54; MB_Bottom_Detect_Filter_Max_Depth = 371.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.113365 meters # Minimum depth: 265.976838 meters looking forward 200.000000 meters along route # Maximum depth: 299.429287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 190.976838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844704; longitude = -118.613172; captureRadius = 10; duration = 104; initialDepth = 190.976838; finalDepth = 212.495569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.536209 # Altitude Set: 93.536209 # Vehicle Depth:190.976838 # Seafloor Depth:-284.513047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 381.63; MB_Bottom_Detect_Filter_Min_Depth = 46.77; MB_Bottom_Detect_Filter_Max_Depth = 381.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.112960 meters # Minimum depth: 250.977760 meters looking forward 200.000000 meters along route # Maximum depth: 279.886126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 175.977760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845396; longitude = -118.612411; captureRadius = 10; duration = 104; initialDepth = 175.977760; finalDepth = 190.976838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.536209 # Altitude Set: 93.536209 # Vehicle Depth:175.97776 # Seafloor Depth:-265.338569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 381.63; MB_Bottom_Detect_Filter_Min_Depth = 46.77; MB_Bottom_Detect_Filter_Max_Depth = 381.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.223510 meters # Minimum depth: 236.632796 meters looking forward 200.000000 meters along route # Maximum depth: 261.719170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 161.632796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846087; longitude = -118.611650; captureRadius = 10; duration = 105; initialDepth = 161.632796; finalDepth = 175.977760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.360809 # Altitude Set: 89.360809 # Vehicle Depth:161.632796 # Seafloor Depth:-249.335420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 364.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.68; MB_Bottom_Detect_Filter_Max_Range = 364.59; MB_Bottom_Detect_Filter_Min_Depth = 44.68; MB_Bottom_Detect_Filter_Max_Depth = 364.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.001195 meters # Minimum depth: 225.590515 meters looking forward 200.000000 meters along route # Maximum depth: 248.032263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 150.590515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846786; longitude = -118.610881; captureRadius = 10; duration = 103; initialDepth = 150.590515; finalDepth = 161.632796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.702624 # Altitude Set: 87.702624 # Vehicle Depth:150.590515 # Seafloor Depth:-236.508073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 357.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.85; MB_Bottom_Detect_Filter_Max_Range = 357.83; MB_Bottom_Detect_Filter_Min_Depth = 43.85; MB_Bottom_Detect_Filter_Max_Depth = 357.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.111746 meters # Minimum depth: 215.199560 meters looking forward 200.000000 meters along route # Maximum depth: 233.887522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 140.199560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847470; longitude = -118.610128; captureRadius = 10; duration = 104; initialDepth = 140.199560; finalDepth = 150.590515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.917558 # Altitude Set: 85.917558 # Vehicle Depth:140.19956 # Seafloor Depth:-224.548043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.96; MB_Bottom_Detect_Filter_Max_Range = 350.54; MB_Bottom_Detect_Filter_Min_Depth = 42.96; MB_Bottom_Detect_Filter_Max_Depth = 350.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.111341 meters # Minimum depth: 203.148738 meters looking forward 200.000000 meters along route # Maximum depth: 222.740243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 128.148738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848161; longitude = -118.609367; captureRadius = 10; duration = 104; initialDepth = 128.148738; finalDepth = 140.199560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.284385 # Altitude Set: 85.284385 # Vehicle Depth:128.148738 # Seafloor Depth:-213.433123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.64; MB_Bottom_Detect_Filter_Max_Range = 347.96; MB_Bottom_Detect_Filter_Min_Depth = 42.64; MB_Bottom_Detect_Filter_Max_Depth = 347.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.426784 meters # Minimum depth: 191.060866 meters looking forward 200.000000 meters along route # Maximum depth: 210.924697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 116.060866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848853; longitude = -118.608606; captureRadius = 10; duration = 114; initialDepth = 116.060866; finalDepth = 128.148738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.639146 # Altitude Set: 86.639146 # Vehicle Depth:116.060866 # Seafloor Depth:-202.700012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 353.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.32; MB_Bottom_Detect_Filter_Max_Range = 353.49; MB_Bottom_Detect_Filter_Min_Depth = 43.32; MB_Bottom_Detect_Filter_Max_Depth = 353.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.470542 meters # Minimum depth: 180.783463 meters looking forward 200.000000 meters along route # Maximum depth: 200.394450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 105.783463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849612; longitude = -118.607770; captureRadius = 10; duration = 102; initialDepth = 105.783463; finalDepth = 116.060866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.639146 # Altitude Set: 86.639146 # Vehicle Depth:105.783463 # Seafloor Depth:-190.005873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 353.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.32; MB_Bottom_Detect_Filter_Max_Range = 353.49; MB_Bottom_Detect_Filter_Min_Depth = 43.32; MB_Bottom_Detect_Filter_Max_Depth = 353.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 43.249585 meters # Minimum depth: 175.672356 meters looking forward 200.000000 meters along route # Maximum depth: 195.138706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 100.672356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850293; longitude = -118.607021; captureRadius = 10; duration = 43; initialDepth = 100.672356; finalDepth = 105.783463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.22241 # Altitude Set: 84.22241 # Vehicle Depth:100.672356 # Seafloor Depth:-179.971781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.11; MB_Bottom_Detect_Filter_Max_Range = 343.63; MB_Bottom_Detect_Filter_Min_Depth = 42.11; MB_Bottom_Detect_Filter_Max_Depth = 343.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.798751 meters # Minimum depth: 166.508244 meters looking forward 200.000000 meters along route # Maximum depth: 183.503093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 91.508244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850600; longitude = -118.606733; captureRadius = 10; duration = 103; initialDepth = 91.508244; finalDepth = 100.672356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.877342 # Altitude Set: 83.877342 # Vehicle Depth:91.508244 # Seafloor Depth:-175.385586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.94; MB_Bottom_Detect_Filter_Max_Range = 342.22; MB_Bottom_Detect_Filter_Min_Depth = 41.94; MB_Bottom_Detect_Filter_Max_Depth = 342.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.798395 meters # Minimum depth: 158.870241 meters looking forward 200.000000 meters along route # Maximum depth: 173.093512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 83.870241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851337; longitude = -118.606041; captureRadius = 10; duration = 103; initialDepth = 83.870241; finalDepth = 91.508244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.877342 # Altitude Set: 83.877342 # Vehicle Depth:83.870241 # Seafloor Depth:-166.100657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.94; MB_Bottom_Detect_Filter_Max_Range = 342.22; MB_Bottom_Detect_Filter_Min_Depth = 41.94; MB_Bottom_Detect_Filter_Max_Depth = 342.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.205721 meters # Minimum depth: 143.673109 meters looking forward 200.000000 meters along route # Maximum depth: 165.722130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 68.673109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852074; longitude = -118.605350; captureRadius = 10; duration = 106; initialDepth = 68.673109; finalDepth = 83.870241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.508228 # Altitude Set: 88.508228 # Vehicle Depth:68.673109 # Seafloor Depth:-157.181337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.25; MB_Bottom_Detect_Filter_Max_Range = 361.11; MB_Bottom_Detect_Filter_Min_Depth = 44.25; MB_Bottom_Detect_Filter_Max_Depth = 361.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.390001 meters # Minimum depth: 131.574588 meters looking forward 200.000000 meters along route # Maximum depth: 156.094903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 56.574588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852828; longitude = -118.604643; captureRadius = 10; duration = 101; initialDepth = 56.574588; finalDepth = 68.673109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.508228 # Altitude Set: 88.508228 # Vehicle Depth:56.574588 # Seafloor Depth:-143.402187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.25; MB_Bottom_Detect_Filter_Max_Range = 361.11; MB_Bottom_Detect_Filter_Min_Depth = 44.25; MB_Bottom_Detect_Filter_Max_Depth = 361.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.797328 meters # Minimum depth: 117.428395 meters looking forward 200.000000 meters along route # Maximum depth: 140.673905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 42.428395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853548; longitude = -118.603967; captureRadius = 10; duration = 103; initialDepth = 42.428395; finalDepth = 56.574588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.595223 # Altitude Set: 88.595223 # Vehicle Depth:42.428395 # Seafloor Depth:-131.023618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.30; MB_Bottom_Detect_Filter_Max_Range = 361.47; MB_Bottom_Detect_Filter_Min_Depth = 44.30; MB_Bottom_Detect_Filter_Max_Depth = 361.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.287462 meters # Minimum depth: 96.786275 meters looking forward 200.000000 meters along route # Maximum depth: 128.233583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 21.786275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854285; longitude = -118.603276; captureRadius = 10; duration = 111; initialDepth = 21.786275; finalDepth = 42.428395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.886741 # Altitude Set: 93.886741 # Vehicle Depth:21.786275 # Seafloor Depth:-115.673016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 383.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.94; MB_Bottom_Detect_Filter_Max_Range = 383.06; MB_Bottom_Detect_Filter_Min_Depth = 46.94; MB_Bottom_Detect_Filter_Max_Depth = 383.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 113.605528 meters # Minimum depth: 90.488193 meters looking forward 200.000000 meters along route # Maximum depth: 110.866004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 15.488193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855075; longitude = -118.602535; captureRadius = 10; duration = 113; initialDepth = 15.488193; finalDepth = 21.786275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.886741 # Altitude Set: 93.886741 # Vehicle Depth:15.488193 # Seafloor Depth:-95.928697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 383.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.94; MB_Bottom_Detect_Filter_Max_Range = 383.06; MB_Bottom_Detect_Filter_Min_Depth = 46.94; MB_Bottom_Detect_Filter_Max_Depth = 383.06; 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: 80.440504 # Altitude Set: 80.440504 # Vehicle Depth:15.11495 # Seafloor Depth:-90.114950 # 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 = 328.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 328.20; MB_Bottom_Detect_Filter_Min_Depth = 40.22; MB_Bottom_Detect_Filter_Max_Depth = 328.20; 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: 90.114950 meters looking forward 200.000000 meters along route # Maximum depth: 110.866004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 15.114950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855882; longitude = -118.601778; captureRadius = 10; duration = 500; initialDepth = 15.114950; finalDepth = 15.488193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 218.944944; pitch = -15.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 218.944944; 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 = 70; 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; } # ####################################################### #######################################################