# 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: SMBSurveyPlan05.rte # Mission File: SMBSurveyPlan05.cfg # Distance: 40550.705408 (m) # Estimated Time: 30604 (s) 8.501 (hr) # Abort Time: 39786 (s) # Way Points: 43 # Route Points: 384 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 70 (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 -118.602527 33.856516 -90.887472 0.000000 3 # 1 -118.607540 33.853231 -151.851705 589.745442 1 # 2 -118.619639 33.842342 -364.839071 2236.642158 1 # 3 -118.639287 33.813879 -791.794271 5879.716424 1 # 4 -118.646028 33.804545 -839.471436 7088.493313 1 # 5 -118.660259 33.812784 -854.627116 8691.924027 1 # 6 -118.667650 33.803974 -870.016251 9884.738173 4 # 7 -118.665883 33.802937 -868.978745 10084.738173 3 # 8 -118.658451 33.811753 -854.262833 11280.346531 4 # 9 -118.656685 33.810715 -853.644714 11480.346531 3 # 10 -118.664117 33.801899 -867.757431 12675.954889 4 # 11 -118.662350 33.800861 -865.885254 12875.954889 3 # 12 -118.654918 33.809677 -853.085556 14071.563247 4 # 13 -118.653151 33.808639 -849.984512 14271.563247 3 # 14 -118.660584 33.799823 -864.841873 15467.171605 4 # 15 -118.658817 33.798785 -863.202103 15667.171605 3 # 16 -118.651385 33.807601 -846.327255 16862.779963 4 # 17 -118.649618 33.806563 -843.831207 17062.779963 3 # 18 -118.657051 33.797748 -861.080948 18258.388321 4 # 19 -118.655284 33.796710 -858.602936 18458.388321 3 # 20 -118.647852 33.805525 -840.917358 19653.996679 4 # 21 -118.646085 33.804487 -839.361145 19853.996679 3 # 22 -118.653518 33.795672 -856.767349 21049.605037 4 # 23 -118.651752 33.794634 -857.376907 21249.605037 3 # 24 -118.644319 33.803449 -838.883194 22445.213395 4 # 25 -118.642553 33.802411 -841.057083 22645.213395 3 # 26 -118.649986 33.793596 -858.621002 23840.821753 4 # 27 -118.648219 33.792558 -861.492096 24040.821753 3 # 28 -118.640786 33.801373 -844.703568 25236.430111 4 # 29 -118.639020 33.800335 -849.478607 25436.430111 3 # 30 -118.646453 33.791520 -864.473404 26632.038469 4 # 31 -118.644687 33.790482 -865.177551 26832.038469 3 # 32 -118.637254 33.799297 -854.209808 28027.646827 4 # 33 -118.635488 33.798259 -856.332214 28227.646827 3 # 34 -118.642921 33.789444 -866.081558 29423.255185 4 # 35 -118.641155 33.788406 -867.263992 29623.255185 3 # 36 -118.633722 33.797220 -860.618881 30818.863543 4 # 37 -118.631956 33.796182 -862.332291 31018.863543 3 # 38 -118.639389 33.787367 -868.170929 32214.471901 4 # 39 -118.635311 33.788988 -868.153971 32632.705339 3 # 40 -118.667519 33.807253 -866.791341 36237.838739 4 # 41 -118.664408 33.811228 -856.575195 36764.511927 3 # 42 -118.630125 33.792618 -868.919108 40550.705408 4 # # A total of 384 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 40550.705408 #define MISSION_TIME 30604 #define MISSION_TIMEOUT 39786 #define DEPTH_MAX 850.000000 #define DEPTH_ABORT 870.000000 #define ALTITUDE_DESIRED 70.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 4000; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 82.059326 meters # Minimum depth: 868.919108 meters looking forward 200.000000 meters along route # Maximum depth: 869.178717 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.919108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792618; longitude = -118.630125; captureRadius = 10; duration = 82; initialDepth = 798.919108; finalDepth = 798.919108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70 # Altitude Set: 70 # Vehicle Depth:798.919108 # Seafloor Depth:-868.919108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 168.00; MB_Bottom_Detect_Filter_Min_Depth = 35.00; MB_Bottom_Detect_Filter_Max_Depth = 168.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.504483 meters # Minimum depth: 868.774098 meters looking forward 200.000000 meters along route # Maximum depth: 869.178717 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.774098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793021; longitude = -118.630868; captureRadius = 10; duration = 105; initialDepth = 798.774098; finalDepth = 798.919108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.12787 # Altitude Set: 70.12787 # Vehicle Depth:798.774098 # Seafloor Depth:-868.901968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.06; MB_Bottom_Detect_Filter_Max_Range = 168.31; MB_Bottom_Detect_Filter_Min_Depth = 35.06; MB_Bottom_Detect_Filter_Max_Depth = 168.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.504073 meters # Minimum depth: 868.774098 meters looking forward 200.000000 meters along route # Maximum depth: 869.327341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.774098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793540; longitude = -118.631824; captureRadius = 10; duration = 105; initialDepth = 798.774098; finalDepth = 798.774098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.12787 # Altitude Set: 70.12787 # Vehicle Depth:798.774098 # Seafloor Depth:-868.821292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.06; MB_Bottom_Detect_Filter_Max_Range = 168.31; MB_Bottom_Detect_Filter_Min_Depth = 35.06; MB_Bottom_Detect_Filter_Max_Depth = 168.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.503663 meters # Minimum depth: 868.580481 meters looking forward 200.000000 meters along route # Maximum depth: 869.327341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.580481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794059; longitude = -118.632779; captureRadius = 10; duration = 105; initialDepth = 798.580481; finalDepth = 798.774098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.4169300000001 # Altitude Set: 70.4169300000001 # Vehicle Depth:798.580481 # Seafloor Depth:-868.997411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.21; MB_Bottom_Detect_Filter_Max_Range = 169.00; MB_Bottom_Detect_Filter_Min_Depth = 35.21; MB_Bottom_Detect_Filter_Max_Depth = 169.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.527206 meters # Minimum depth: 867.417307 meters looking forward 200.000000 meters along route # Maximum depth: 868.879102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.417307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.633734; captureRadius = 10; duration = 110; initialDepth = 797.417307; finalDepth = 798.580481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4617949999999 # Altitude Set: 71.4617949999999 # Vehicle Depth:797.417307 # Seafloor Depth:-868.879102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 171.51; MB_Bottom_Detect_Filter_Min_Depth = 35.73; MB_Bottom_Detect_Filter_Max_Depth = 171.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.478889 meters # Minimum depth: 865.969753 meters looking forward 200.000000 meters along route # Maximum depth: 868.858564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.969753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795120; longitude = -118.634735; captureRadius = 10; duration = 100; initialDepth = 795.969753; finalDepth = 797.417307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4617949999999 # Altitude Set: 71.4617949999999 # Vehicle Depth:795.969753 # Seafloor Depth:-867.332615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 171.51; MB_Bottom_Detect_Filter_Min_Depth = 35.73; MB_Bottom_Detect_Filter_Max_Depth = 171.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.521565 meters # Minimum depth: 862.010466 meters looking forward 200.000000 meters along route # Maximum depth: 866.952851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.010466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795614; longitude = -118.635645; captureRadius = 10; duration = 109; initialDepth = 792.010466; finalDepth = 795.969753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.775667 # Altitude Set: 73.775667 # Vehicle Depth:792.010466 # Seafloor Depth:-865.786133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.89; MB_Bottom_Detect_Filter_Max_Range = 177.06; MB_Bottom_Detect_Filter_Min_Depth = 36.89; MB_Bottom_Detect_Filter_Max_Depth = 177.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 101.482891 meters # Minimum depth: 858.464225 meters looking forward 200.000000 meters along route # Maximum depth: 865.284375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.464225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796152; longitude = -118.636636; captureRadius = 10; duration = 101; initialDepth = 788.464225; finalDepth = 792.010466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.775667 # Altitude Set: 73.775667 # Vehicle Depth:788.464225 # Seafloor Depth:-861.877019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.89; MB_Bottom_Detect_Filter_Max_Range = 177.06; MB_Bottom_Detect_Filter_Min_Depth = 36.89; MB_Bottom_Detect_Filter_Max_Depth = 177.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 108.515938 meters # Minimum depth: 854.164551 meters looking forward 200.000000 meters along route # Maximum depth: 861.256243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.164551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.637555; captureRadius = 10; duration = 108; initialDepth = 784.164551; finalDepth = 788.464225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.071144 # Altitude Set: 74.071144 # Vehicle Depth:784.164551 # Seafloor Depth:-858.235695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.04; MB_Bottom_Detect_Filter_Max_Range = 177.77; MB_Bottom_Detect_Filter_Min_Depth = 37.04; MB_Bottom_Detect_Filter_Max_Depth = 177.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 102.486877 meters # Minimum depth: 849.659814 meters looking forward 200.000000 meters along route # Maximum depth: 857.788836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.659814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797185; longitude = -118.638538; captureRadius = 10; duration = 102; initialDepth = 779.659814; finalDepth = 784.164551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.360685 # Altitude Set: 74.360685 # Vehicle Depth:779.659814 # Seafloor Depth:-854.020499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 178.47; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 107.510328 meters # Minimum depth: 845.103043 meters looking forward 200.000000 meters along route # Maximum depth: 853.177319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.103043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797688; longitude = -118.639466; captureRadius = 10; duration = 107; initialDepth = 775.103043; finalDepth = 779.659814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.360685 # Altitude Set: 74.360685 # Vehicle Depth:775.103043 # Seafloor Depth:-849.305908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 178.47; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 103.490848 meters # Minimum depth: 840.201767 meters looking forward 200.000000 meters along route # Maximum depth: 848.816044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.201767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798217; longitude = -118.640439; captureRadius = 10; duration = 103; initialDepth = 770.201767; finalDepth = 775.103043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.77779 # Altitude Set: 74.77779 # Vehicle Depth:770.201767 # Seafloor Depth:-844.979557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 179.47; MB_Bottom_Detect_Filter_Min_Depth = 37.39; MB_Bottom_Detect_Filter_Max_Depth = 179.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.504733 meters # Minimum depth: 835.496087 meters looking forward 200.000000 meters along route # Maximum depth: 843.918811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.496087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798726; longitude = -118.641376; captureRadius = 10; duration = 106; initialDepth = 765.496087; finalDepth = 770.201767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.77779 # Altitude Set: 74.77779 # Vehicle Depth:765.496087 # Seafloor Depth:-839.807196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 179.47; MB_Bottom_Detect_Filter_Min_Depth = 37.39; MB_Bottom_Detect_Filter_Max_Depth = 179.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.494803 meters # Minimum depth: 832.229832 meters looking forward 200.000000 meters along route # Maximum depth: 839.344864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.229832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799249; longitude = -118.642340; captureRadius = 10; duration = 104; initialDepth = 762.229832; finalDepth = 765.496087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.311109 # Altitude Set: 74.311109 # Vehicle Depth:762.229832 # Seafloor Depth:-835.462885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 178.35; MB_Bottom_Detect_Filter_Min_Depth = 37.16; MB_Bottom_Detect_Filter_Max_Depth = 178.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.499153 meters # Minimum depth: 829.667557 meters looking forward 200.000000 meters along route # Maximum depth: 834.857099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.667557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.643286; captureRadius = 10; duration = 105; initialDepth = 759.667557; finalDepth = 762.229832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.233053 # Altitude Set: 73.233053 # Vehicle Depth:759.667557 # Seafloor Depth:-831.963864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.62; MB_Bottom_Detect_Filter_Max_Range = 175.76; MB_Bottom_Detect_Filter_Min_Depth = 36.62; MB_Bottom_Detect_Filter_Max_Depth = 175.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.498744 meters # Minimum depth: 827.585113 meters looking forward 200.000000 meters along route # Maximum depth: 831.331927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.585113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.644242; captureRadius = 10; duration = 105; initialDepth = 757.585113; finalDepth = 759.667557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.296307 # Altitude Set: 72.296307 # Vehicle Depth:757.585113 # Seafloor Depth:-829.176270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 173.51; MB_Bottom_Detect_Filter_Min_Depth = 36.15; MB_Bottom_Detect_Filter_Max_Depth = 173.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.498333 meters # Minimum depth: 826.524747 meters looking forward 200.000000 meters along route # Maximum depth: 828.733595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.524747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800800; longitude = -118.645197; captureRadius = 10; duration = 105; initialDepth = 756.524747; finalDepth = 757.585113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.5911570000001 # Altitude Set: 71.5911570000001 # Vehicle Depth:756.524747 # Seafloor Depth:-827.531134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 171.82; MB_Bottom_Detect_Filter_Min_Depth = 35.80; MB_Bottom_Detect_Filter_Max_Depth = 171.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.497924 meters # Minimum depth: 826.524747 meters looking forward 200.000000 meters along route # Maximum depth: 826.985889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.524747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.646152; captureRadius = 10; duration = 105; initialDepth = 756.524747; finalDepth = 756.524747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.0063869999999 # Altitude Set: 71.0063869999999 # Vehicle Depth:756.524747 # Seafloor Depth:-826.526386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.50; MB_Bottom_Detect_Filter_Max_Range = 170.42; MB_Bottom_Detect_Filter_Min_Depth = 35.50; MB_Bottom_Detect_Filter_Max_Depth = 170.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.497514 meters # Minimum depth: 826.558343 meters looking forward 200.000000 meters along route # Maximum depth: 827.701901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.558343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.647107; captureRadius = 10; duration = 105; initialDepth = 756.558343; finalDepth = 756.524747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.245362 # Altitude Set: 70.245362 # Vehicle Depth:756.558343 # Seafloor Depth:-826.803705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 168.59; MB_Bottom_Detect_Filter_Min_Depth = 35.12; MB_Bottom_Detect_Filter_Max_Depth = 168.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.497104 meters # Minimum depth: 826.795365 meters looking forward 200.000000 meters along route # Maximum depth: 828.123017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.795365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.648063; captureRadius = 10; duration = 105; initialDepth = 756.795365; finalDepth = 756.558343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.9361700000001 # Altitude Set: 70.9361700000001 # Vehicle Depth:756.795365 # Seafloor Depth:-827.731535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 170.25; MB_Bottom_Detect_Filter_Min_Depth = 35.47; MB_Bottom_Detect_Filter_Max_Depth = 170.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.496694 meters # Minimum depth: 827.889125 meters looking forward 200.000000 meters along route # Maximum depth: 829.901650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.889125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.649018; captureRadius = 10; duration = 105; initialDepth = 757.889125; finalDepth = 756.795365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.9361700000001 # Altitude Set: 70.9361700000001 # Vehicle Depth:757.889125 # Seafloor Depth:-828.190542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 170.25; MB_Bottom_Detect_Filter_Min_Depth = 35.47; MB_Bottom_Detect_Filter_Max_Depth = 170.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.496284 meters # Minimum depth: 828.639821 meters looking forward 200.000000 meters along route # Maximum depth: 830.413550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.639821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.649973; captureRadius = 10; duration = 105; initialDepth = 758.639821; finalDepth = 757.889125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.241491 # Altitude Set: 71.241491 # Vehicle Depth:758.639821 # Seafloor Depth:-829.881312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 170.98; MB_Bottom_Detect_Filter_Min_Depth = 35.62; MB_Bottom_Detect_Filter_Max_Depth = 170.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.495875 meters # Minimum depth: 829.374023 meters looking forward 200.000000 meters along route # Maximum depth: 832.143590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.374023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.650928; captureRadius = 10; duration = 105; initialDepth = 759.374023; finalDepth = 758.639821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.402103 # Altitude Set: 71.402103 # Vehicle Depth:759.374023 # Seafloor Depth:-830.776126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 171.37; MB_Bottom_Detect_Filter_Min_Depth = 35.70; MB_Bottom_Detect_Filter_Max_Depth = 171.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.519048 meters # Minimum depth: 831.128985 meters looking forward 200.000000 meters along route # Maximum depth: 833.966466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.128985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.651884; captureRadius = 10; duration = 110; initialDepth = 761.128985; finalDepth = 759.374023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.402103 # Altitude Set: 71.402103 # Vehicle Depth:761.128985 # Seafloor Depth:-832.150930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 171.37; MB_Bottom_Detect_Filter_Min_Depth = 35.70; MB_Bottom_Detect_Filter_Max_Depth = 171.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.471472 meters # Minimum depth: 832.204930 meters looking forward 200.000000 meters along route # Maximum depth: 835.486642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.204930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804973; longitude = -118.652884; captureRadius = 10; duration = 100; initialDepth = 762.204930; finalDepth = 761.128985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.902169 # Altitude Set: 71.902169 # Vehicle Depth:762.20493 # Seafloor Depth:-834.107099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.95; MB_Bottom_Detect_Filter_Max_Range = 172.57; MB_Bottom_Detect_Filter_Min_Depth = 35.95; MB_Bottom_Detect_Filter_Max_Depth = 172.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.513481 meters # Minimum depth: 834.674280 meters looking forward 200.000000 meters along route # Maximum depth: 836.055176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.674280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.653794; captureRadius = 10; duration = 109; initialDepth = 764.674280; finalDepth = 762.204930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.902169 # Altitude Set: 71.902169 # Vehicle Depth:764.67428 # Seafloor Depth:-835.445200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.95; MB_Bottom_Detect_Filter_Max_Range = 172.57; MB_Bottom_Detect_Filter_Min_Depth = 35.95; MB_Bottom_Detect_Filter_Max_Depth = 172.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 101.475400 meters # Minimum depth: 835.426062 meters looking forward 200.000000 meters along route # Maximum depth: 838.141377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.426062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806005; longitude = -118.654786; captureRadius = 10; duration = 101; initialDepth = 765.426062; finalDepth = 764.674280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.77092 # Altitude Set: 70.77092 # Vehicle Depth:765.426062 # Seafloor Depth:-836.003115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 169.85; MB_Bottom_Detect_Filter_Min_Depth = 35.39; MB_Bottom_Detect_Filter_Max_Depth = 169.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 108.507929 meters # Minimum depth: 836.388695 meters looking forward 200.000000 meters along route # Maximum depth: 839.128007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.388695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806504; longitude = -118.655705; captureRadius = 10; duration = 108; initialDepth = 766.388695; finalDepth = 765.426062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8496730000001 # Altitude Set: 71.8496730000001 # Vehicle Depth:766.388695 # Seafloor Depth:-838.238368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 172.44; MB_Bottom_Detect_Filter_Min_Depth = 35.92; MB_Bottom_Detect_Filter_Max_Depth = 172.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 102.479313 meters # Minimum depth: 838.416732 meters looking forward 200.000000 meters along route # Maximum depth: 839.711905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.416732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807037; longitude = -118.656687; captureRadius = 10; duration = 102; initialDepth = 768.416732; finalDepth = 766.388695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8496730000001 # Altitude Set: 71.8496730000001 # Vehicle Depth:768.416732 # Seafloor Depth:-839.150410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 172.44; MB_Bottom_Detect_Filter_Min_Depth = 35.92; MB_Bottom_Detect_Filter_Max_Depth = 172.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 107.502393 meters # Minimum depth: 839.198697 meters looking forward 200.000000 meters along route # Maximum depth: 840.105331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.198697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807541; longitude = -118.657615; captureRadius = 10; duration = 107; initialDepth = 769.198697; finalDepth = 768.416732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7336779999999 # Altitude Set: 70.7336779999999 # Vehicle Depth:769.198697 # Seafloor Depth:-839.595922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.37; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 35.37; MB_Bottom_Detect_Filter_Max_Depth = 169.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 103.483210 meters # Minimum depth: 839.567962 meters looking forward 200.000000 meters along route # Maximum depth: 842.191631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.567962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808069; longitude = -118.658588; captureRadius = 10; duration = 103; initialDepth = 769.567962; finalDepth = 769.198697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5445570000001 # Altitude Set: 70.5445570000001 # Vehicle Depth:769.567962 # Seafloor Depth:-840.112519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 169.31; MB_Bottom_Detect_Filter_Min_Depth = 35.27; MB_Bottom_Detect_Filter_Max_Depth = 169.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.496873 meters # Minimum depth: 840.281335 meters looking forward 200.000000 meters along route # Maximum depth: 845.898315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.281335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808578; longitude = -118.659525; captureRadius = 10; duration = 106; initialDepth = 770.281335; finalDepth = 769.567962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.229744 # Altitude Set: 72.229744 # Vehicle Depth:770.281335 # Seafloor Depth:-842.511079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 173.35; MB_Bottom_Detect_Filter_Min_Depth = 36.11; MB_Bottom_Detect_Filter_Max_Depth = 173.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.487092 meters # Minimum depth: 842.973685 meters looking forward 200.000000 meters along route # Maximum depth: 850.309265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.973685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809102; longitude = -118.660490; captureRadius = 10; duration = 104; initialDepth = 772.973685; finalDepth = 770.281335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.9674199999999 # Altitude Set: 72.9674199999999 # Vehicle Depth:772.973685 # Seafloor Depth:-845.941105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 175.12; MB_Bottom_Detect_Filter_Min_Depth = 36.48; MB_Bottom_Detect_Filter_Max_Depth = 175.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.491368 meters # Minimum depth: 846.919312 meters looking forward 200.000000 meters along route # Maximum depth: 854.000895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.919312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809615; longitude = -118.661436; captureRadius = 10; duration = 105; initialDepth = 776.919312; finalDepth = 772.973685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.766004 # Altitude Set: 73.766004 # Vehicle Depth:776.919312 # Seafloor Depth:-850.685316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 177.04; MB_Bottom_Detect_Filter_Min_Depth = 36.88; MB_Bottom_Detect_Filter_Max_Depth = 177.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 114.533021 meters # Minimum depth: 852.007994 meters looking forward 200.000000 meters along route # Maximum depth: 856.405216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.007994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810134; longitude = -118.662391; captureRadius = 10; duration = 114; initialDepth = 782.007994; finalDepth = 776.919312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.766004 # Altitude Set: 73.766004 # Vehicle Depth:782.007994 # Seafloor Depth:-854.239563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 177.04; MB_Bottom_Detect_Filter_Min_Depth = 36.88; MB_Bottom_Detect_Filter_Max_Depth = 177.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 108.169633 meters # Minimum depth: 855.197532 meters looking forward 200.000000 meters along route # Maximum depth: 856.798092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.197532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810697; longitude = -118.663428; captureRadius = 10; duration = 108; initialDepth = 785.197532; finalDepth = 782.007994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.2315689999999 # Altitude Set: 72.2315689999999 # Vehicle Depth:785.197532 # Seafloor Depth:-856.399702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 173.36; MB_Bottom_Detect_Filter_Min_Depth = 36.12; MB_Bottom_Detect_Filter_Max_Depth = 173.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 76.328974 meters # Minimum depth: 856.399702 meters looking forward 200.000000 meters along route # Maximum depth: 857.609675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.399702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811228; longitude = -118.664408; captureRadius = 10; duration = 76; initialDepth = 786.399702; finalDepth = 785.197532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.20217 # Altitude Set: 71.20217 # Vehicle Depth:786.399702 # Seafloor Depth:-856.575195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 170.89; MB_Bottom_Detect_Filter_Min_Depth = 35.60; MB_Bottom_Detect_Filter_Max_Depth = 170.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 114.493762 meters # Minimum depth: 856.575195 meters looking forward 200.000000 meters along route # Maximum depth: 859.350899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.575195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810652; longitude = -118.664859; captureRadius = 10; duration = 114; initialDepth = 786.575195; finalDepth = 786.399702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.154554 # Altitude Set: 71.154554 # Vehicle Depth:786.575195 # Seafloor Depth:-857.729749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 170.77; MB_Bottom_Detect_Filter_Min_Depth = 35.58; MB_Bottom_Detect_Filter_Max_Depth = 170.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 114.494123 meters # Minimum depth: 858.157513 meters looking forward 200.000000 meters along route # Maximum depth: 861.314253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.157513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809788; longitude = -118.665535; captureRadius = 10; duration = 114; initialDepth = 788.157513; finalDepth = 786.575195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.235593 # Altitude Set: 71.235593 # Vehicle Depth:788.157513 # Seafloor Depth:-859.393106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 170.97; MB_Bottom_Detect_Filter_Min_Depth = 35.62; MB_Bottom_Detect_Filter_Max_Depth = 170.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 114.494485 meters # Minimum depth: 860.291895 meters looking forward 200.000000 meters along route # Maximum depth: 864.334594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.291895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808924; longitude = -118.666211; captureRadius = 10; duration = 114; initialDepth = 790.291895; finalDepth = 788.157513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.235593 # Altitude Set: 71.235593 # Vehicle Depth:790.291895 # Seafloor Depth:-861.338533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 170.97; MB_Bottom_Detect_Filter_Min_Depth = 35.62; MB_Bottom_Detect_Filter_Max_Depth = 170.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 106.861844 meters # Minimum depth: 861.686509 meters looking forward 200.000000 meters along route # Maximum depth: 866.447088 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.686509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808060; longitude = -118.666888; captureRadius = 10; duration = 106; initialDepth = 791.686509; finalDepth = 790.291895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.659544 # Altitude Set: 72.659544 # Vehicle Depth:791.686509 # Seafloor Depth:-864.346053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 174.38; MB_Bottom_Detect_Filter_Min_Depth = 36.33; MB_Bottom_Detect_Filter_Max_Depth = 174.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 12.897653 meters # Minimum depth: 862.400309 meters looking forward 200.000000 meters along route # Maximum depth: 866.791341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.400309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807253; longitude = -118.667519; captureRadius = 10; duration = 12; initialDepth = 792.400309; finalDepth = 791.686509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.391032 # Altitude Set: 74.391032 # Vehicle Depth:792.400309 # Seafloor Depth:-866.791341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 178.54; MB_Bottom_Detect_Filter_Min_Depth = 37.20; MB_Bottom_Detect_Filter_Max_Depth = 178.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.821614 meters # Minimum depth: 864.973579 meters looking forward 200.000000 meters along route # Maximum depth: 866.791341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.973579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807188; longitude = -118.667404; captureRadius = 10; duration = 100; initialDepth = 794.973579; finalDepth = 792.400309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.391032 # Altitude Set: 74.391032 # Vehicle Depth:794.973579 # Seafloor Depth:-866.523779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 178.54; MB_Bottom_Detect_Filter_Min_Depth = 37.20; MB_Bottom_Detect_Filter_Max_Depth = 178.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.347748 meters # Minimum depth: 863.697639 meters looking forward 200.000000 meters along route # Maximum depth: 866.184783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.697639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806677; longitude = -118.666503; captureRadius = 10; duration = 102; initialDepth = 793.697639; finalDepth = 794.973579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.585456 # Altitude Set: 71.585456 # Vehicle Depth:793.697639 # Seafloor Depth:-865.283095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 171.81; MB_Bottom_Detect_Filter_Min_Depth = 35.79; MB_Bottom_Detect_Filter_Max_Depth = 171.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.348136 meters # Minimum depth: 861.395259 meters looking forward 200.000000 meters along route # Maximum depth: 864.896728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.395259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.665589; captureRadius = 10; duration = 102; initialDepth = 791.395259; finalDepth = 793.697639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.233805 # Altitude Set: 72.233805 # Vehicle Depth:791.395259 # Seafloor Depth:-863.629064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 173.36; MB_Bottom_Detect_Filter_Min_Depth = 36.12; MB_Bottom_Detect_Filter_Max_Depth = 173.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.348523 meters # Minimum depth: 860.565318 meters looking forward 200.000000 meters along route # Maximum depth: 863.514185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.565318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805640; longitude = -118.664674; captureRadius = 10; duration = 102; initialDepth = 790.565318; finalDepth = 791.395259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.233805 # Altitude Set: 72.233805 # Vehicle Depth:790.565318 # Seafloor Depth:-861.122539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 173.36; MB_Bottom_Detect_Filter_Min_Depth = 36.12; MB_Bottom_Detect_Filter_Max_Depth = 173.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.348911 meters # Minimum depth: 858.074618 meters looking forward 200.000000 meters along route # Maximum depth: 860.917666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.074618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805121; longitude = -118.663760; captureRadius = 10; duration = 102; initialDepth = 788.074618; finalDepth = 790.565318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.456237 # Altitude Set: 72.456237 # Vehicle Depth:788.074618 # Seafloor Depth:-860.530855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.89; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.349297 meters # Minimum depth: 856.634867 meters looking forward 200.000000 meters along route # Maximum depth: 860.093037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.634867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804602; longitude = -118.662845; captureRadius = 10; duration = 102; initialDepth = 786.634867; finalDepth = 788.074618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.456237 # Altitude Set: 72.456237 # Vehicle Depth:786.634867 # Seafloor Depth:-858.084893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.89; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.265158 meters # Minimum depth: 855.505968 meters looking forward 200.000000 meters along route # Maximum depth: 858.045121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.505968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804084; longitude = -118.661931; captureRadius = 10; duration = 103; initialDepth = 785.505968; finalDepth = 786.634867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.450026 # Altitude Set: 71.450026 # Vehicle Depth:785.505968 # Seafloor Depth:-856.421067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 171.48; MB_Bottom_Detect_Filter_Min_Depth = 35.73; MB_Bottom_Detect_Filter_Max_Depth = 171.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 101.434598 meters # Minimum depth: 854.078908 meters looking forward 200.000000 meters along route # Maximum depth: 856.309408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.078908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803561; longitude = -118.661008; captureRadius = 10; duration = 101; initialDepth = 784.078908; finalDepth = 785.505968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4211280000001 # Altitude Set: 71.4211280000001 # Vehicle Depth:784.078908 # Seafloor Depth:-855.500036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 171.41; MB_Bottom_Detect_Filter_Min_Depth = 35.71; MB_Bottom_Detect_Filter_Max_Depth = 171.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.350459 meters # Minimum depth: 853.372322 meters looking forward 200.000000 meters along route # Maximum depth: 855.400939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.372322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803047; longitude = -118.660102; captureRadius = 10; duration = 102; initialDepth = 783.372322; finalDepth = 784.078908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4211280000001 # Altitude Set: 71.4211280000001 # Vehicle Depth:783.372322 # Seafloor Depth:-853.999063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 171.41; MB_Bottom_Detect_Filter_Min_Depth = 35.71; MB_Bottom_Detect_Filter_Max_Depth = 171.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.350847 meters # Minimum depth: 853.062430 meters looking forward 200.000000 meters along route # Maximum depth: 853.831455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.062430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.659188; captureRadius = 10; duration = 102; initialDepth = 783.062430; finalDepth = 783.372322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.6267409999999 # Altitude Set: 70.6267409999999 # Vehicle Depth:783.06243 # Seafloor Depth:-853.281298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 169.50; MB_Bottom_Detect_Filter_Min_Depth = 35.31; MB_Bottom_Detect_Filter_Max_Depth = 169.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.351233 meters # Minimum depth: 852.515258 meters looking forward 200.000000 meters along route # Maximum depth: 853.217437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.515258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802010; longitude = -118.658273; captureRadius = 10; duration = 102; initialDepth = 782.515258; finalDepth = 783.062430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.539314 # Altitude Set: 70.539314 # Vehicle Depth:782.515258 # Seafloor Depth:-853.054572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 35.27; MB_Bottom_Detect_Filter_Max_Depth = 169.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.351621 meters # Minimum depth: 852.175036 meters looking forward 200.000000 meters along route # Maximum depth: 852.877495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.175036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801491; longitude = -118.657359; captureRadius = 10; duration = 102; initialDepth = 782.175036; finalDepth = 782.515258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.539314 # Altitude Set: 70.539314 # Vehicle Depth:782.175036 # Seafloor Depth:-852.508766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 35.27; MB_Bottom_Detect_Filter_Max_Depth = 169.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.352008 meters # Minimum depth: 851.007052 meters looking forward 200.000000 meters along route # Maximum depth: 852.719706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.007052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800973; longitude = -118.656444; captureRadius = 10; duration = 102; initialDepth = 781.007052; finalDepth = 782.175036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.940245 # Altitude Set: 70.940245 # Vehicle Depth:781.007052 # Seafloor Depth:-851.947297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 170.26; MB_Bottom_Detect_Filter_Min_Depth = 35.47; MB_Bottom_Detect_Filter_Max_Depth = 170.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.657561 meters # Minimum depth: 848.357960 meters looking forward 200.000000 meters along route # Maximum depth: 851.673449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.357960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800454; longitude = -118.655530; captureRadius = 10; duration = 102; initialDepth = 778.357960; finalDepth = 781.007052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.4692279999999 # Altitude Set: 72.4692279999999 # Vehicle Depth:778.35796 # Seafloor Depth:-850.827188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.93; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.047617 meters # Minimum depth: 847.497393 meters looking forward 200.000000 meters along route # Maximum depth: 850.760043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.497393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799934; longitude = -118.654613; captureRadius = 10; duration = 102; initialDepth = 777.497393; finalDepth = 778.357960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.4692279999999 # Altitude Set: 72.4692279999999 # Vehicle Depth:777.497393 # Seafloor Depth:-848.350568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.93; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.353170 meters # Minimum depth: 846.741674 meters looking forward 200.000000 meters along route # Maximum depth: 847.816533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.741674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799417; longitude = -118.653701; captureRadius = 10; duration = 102; initialDepth = 776.741674; finalDepth = 777.497393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.853175 # Altitude Set: 70.853175 # Vehicle Depth:776.741674 # Seafloor Depth:-847.485015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.43; MB_Bottom_Detect_Filter_Max_Range = 170.05; MB_Bottom_Detect_Filter_Min_Depth = 35.43; MB_Bottom_Detect_Filter_Max_Depth = 170.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.353557 meters # Minimum depth: 846.741674 meters looking forward 200.000000 meters along route # Maximum depth: 847.377374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.741674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798898; longitude = -118.652787; captureRadius = 10; duration = 102; initialDepth = 776.741674; finalDepth = 776.741674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.743341 # Altitude Set: 70.743341 # Vehicle Depth:776.741674 # Seafloor Depth:-847.143035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.37; MB_Bottom_Detect_Filter_Max_Range = 169.78; MB_Bottom_Detect_Filter_Min_Depth = 35.37; MB_Bottom_Detect_Filter_Max_Depth = 169.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.353944 meters # Minimum depth: 846.509253 meters looking forward 200.000000 meters along route # Maximum depth: 847.377374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.509253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798380; longitude = -118.651872; captureRadius = 10; duration = 102; initialDepth = 776.509253; finalDepth = 776.741674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7916220000001 # Altitude Set: 70.7916220000001 # Vehicle Depth:776.509253 # Seafloor Depth:-847.300875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 169.90; MB_Bottom_Detect_Filter_Min_Depth = 35.40; MB_Bottom_Detect_Filter_Max_Depth = 169.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.354332 meters # Minimum depth: 846.119460 meters looking forward 200.000000 meters along route # Maximum depth: 847.121500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.119460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.650958; captureRadius = 10; duration = 102; initialDepth = 776.119460; finalDepth = 776.509253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7916220000001 # Altitude Set: 70.7916220000001 # Vehicle Depth:776.11946 # Seafloor Depth:-846.507294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 169.90; MB_Bottom_Detect_Filter_Min_Depth = 35.40; MB_Bottom_Detect_Filter_Max_Depth = 169.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.354719 meters # Minimum depth: 845.748545 meters looking forward 200.000000 meters along route # Maximum depth: 846.490043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.748545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797343; longitude = -118.650043; captureRadius = 10; duration = 102; initialDepth = 775.748545; finalDepth = 776.119460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.387834 # Altitude Set: 70.387834 # Vehicle Depth:775.748545 # Seafloor Depth:-846.039726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.19; MB_Bottom_Detect_Filter_Max_Range = 168.93; MB_Bottom_Detect_Filter_Min_Depth = 35.19; MB_Bottom_Detect_Filter_Max_Depth = 168.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.355107 meters # Minimum depth: 845.564023 meters looking forward 200.000000 meters along route # Maximum depth: 846.491349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.564023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796824; longitude = -118.649129; captureRadius = 10; duration = 102; initialDepth = 775.564023; finalDepth = 775.748545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.927326 # Altitude Set: 70.927326 # Vehicle Depth:775.564023 # Seafloor Depth:-846.491349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 170.23; MB_Bottom_Detect_Filter_Min_Depth = 35.46; MB_Bottom_Detect_Filter_Max_Depth = 170.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.355494 meters # Minimum depth: 845.564023 meters looking forward 200.000000 meters along route # Maximum depth: 846.457509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.564023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.648215; captureRadius = 10; duration = 102; initialDepth = 775.564023; finalDepth = 775.564023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.927326 # Altitude Set: 70.927326 # Vehicle Depth:775.564023 # Seafloor Depth:-845.605673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 170.23; MB_Bottom_Detect_Filter_Min_Depth = 35.46; MB_Bottom_Detect_Filter_Max_Depth = 170.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.355881 meters # Minimum depth: 845.612989 meters looking forward 200.000000 meters along route # Maximum depth: 847.510554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.612989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.647300; captureRadius = 10; duration = 102; initialDepth = 775.612989; finalDepth = 775.564023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.8284520000001 # Altitude Set: 70.8284520000001 # Vehicle Depth:775.612989 # Seafloor Depth:-846.441441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.41; MB_Bottom_Detect_Filter_Max_Range = 169.99; MB_Bottom_Detect_Filter_Min_Depth = 35.41; MB_Bottom_Detect_Filter_Max_Depth = 169.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.553545 meters # Minimum depth: 846.468690 meters looking forward 200.000000 meters along route # Maximum depth: 849.776815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.468690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795268; longitude = -118.646386; captureRadius = 10; duration = 104; initialDepth = 776.468690; finalDepth = 775.612989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.218675 # Altitude Set: 71.218675 # Vehicle Depth:776.46869 # Seafloor Depth:-847.687365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.61; MB_Bottom_Detect_Filter_Max_Range = 170.92; MB_Bottom_Detect_Filter_Min_Depth = 35.61; MB_Bottom_Detect_Filter_Max_Depth = 170.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.159380 meters # Minimum depth: 847.793358 meters looking forward 200.000000 meters along route # Maximum depth: 851.929691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.793358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794739; longitude = -118.645452; captureRadius = 10; duration = 100; initialDepth = 777.793358; finalDepth = 776.468690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.016516 # Altitude Set: 72.016516 # Vehicle Depth:777.793358 # Seafloor Depth:-849.809874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 172.84; MB_Bottom_Detect_Filter_Min_Depth = 36.01; MB_Bottom_Detect_Filter_Max_Depth = 172.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.357043 meters # Minimum depth: 850.020171 meters looking forward 200.000000 meters along route # Maximum depth: 853.051297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.020171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794231; longitude = -118.644557; captureRadius = 10; duration = 102; initialDepth = 780.020171; finalDepth = 777.793358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.016516 # Altitude Set: 72.016516 # Vehicle Depth:780.020171 # Seafloor Depth:-851.967988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 172.84; MB_Bottom_Detect_Filter_Min_Depth = 36.01; MB_Bottom_Detect_Filter_Max_Depth = 172.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.357431 meters # Minimum depth: 852.085039 meters looking forward 200.000000 meters along route # Maximum depth: 855.302322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.085039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793713; longitude = -118.643642; captureRadius = 10; duration = 102; initialDepth = 782.085039; finalDepth = 780.020171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.947817 # Altitude Set: 71.947817 # Vehicle Depth:782.085039 # Seafloor Depth:-853.194337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 172.67; MB_Bottom_Detect_Filter_Min_Depth = 35.97; MB_Bottom_Detect_Filter_Max_Depth = 172.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.357819 meters # Minimum depth: 853.378414 meters looking forward 200.000000 meters along route # Maximum depth: 857.616107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.378414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793194; longitude = -118.642728; captureRadius = 10; duration = 102; initialDepth = 783.378414; finalDepth = 782.085039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.262474 # Altitude Set: 72.262474 # Vehicle Depth:783.378414 # Seafloor Depth:-855.640888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 173.43; MB_Bottom_Detect_Filter_Min_Depth = 36.13; MB_Bottom_Detect_Filter_Max_Depth = 173.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.358205 meters # Minimum depth: 856.019589 meters looking forward 200.000000 meters along route # Maximum depth: 859.568279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.019589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792676; longitude = -118.641814; captureRadius = 10; duration = 102; initialDepth = 786.019589; finalDepth = 783.378414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.262474 # Altitude Set: 72.262474 # Vehicle Depth:786.019589 # Seafloor Depth:-857.637185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 173.43; MB_Bottom_Detect_Filter_Min_Depth = 36.13; MB_Bottom_Detect_Filter_Max_Depth = 173.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.358594 meters # Minimum depth: 857.994982 meters looking forward 200.000000 meters along route # Maximum depth: 862.485684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.994982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792157; longitude = -118.640899; captureRadius = 10; duration = 102; initialDepth = 787.994982; finalDepth = 786.019589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.7514829999999 # Altitude Set: 71.7514829999999 # Vehicle Depth:787.994982 # Seafloor Depth:-859.746465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 172.20; MB_Bottom_Detect_Filter_Min_Depth = 35.88; MB_Bottom_Detect_Filter_Max_Depth = 172.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.945945 meters # Minimum depth: 860.129629 meters looking forward 200.000000 meters along route # Maximum depth: 866.077805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.129629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791639; longitude = -118.639985; captureRadius = 10; duration = 103; initialDepth = 790.129629; finalDepth = 787.994982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.768827 # Altitude Set: 72.768827 # Vehicle Depth:790.129629 # Seafloor Depth:-862.898456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.38; MB_Bottom_Detect_Filter_Max_Range = 174.65; MB_Bottom_Detect_Filter_Min_Depth = 36.38; MB_Bottom_Detect_Filter_Max_Depth = 174.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.772404 meters # Minimum depth: 863.139697 meters looking forward 200.000000 meters along route # Maximum depth: 867.456981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.139697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791112; longitude = -118.639056; captureRadius = 10; duration = 100; initialDepth = 793.139697; finalDepth = 790.129629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.9871440000001 # Altitude Set: 72.9871440000001 # Vehicle Depth:793.139697 # Seafloor Depth:-866.126841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 175.17; MB_Bottom_Detect_Filter_Min_Depth = 36.49; MB_Bottom_Detect_Filter_Max_Depth = 175.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.359756 meters # Minimum depth: 866.587815 meters looking forward 200.000000 meters along route # Maximum depth: 867.482204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.587815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790601; longitude = -118.638156; captureRadius = 10; duration = 102; initialDepth = 796.587815; finalDepth = 793.139697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.9871440000001 # Altitude Set: 72.9871440000001 # Vehicle Depth:796.587815 # Seafloor Depth:-867.466329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 175.17; MB_Bottom_Detect_Filter_Min_Depth = 36.49; MB_Bottom_Detect_Filter_Max_Depth = 175.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.449674 meters # Minimum depth: 867.163029 meters looking forward 200.000000 meters along route # Maximum depth: 867.539623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.163029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790083; longitude = -118.637241; captureRadius = 10; duration = 106; initialDepth = 797.163029; finalDepth = 796.587815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.878514 # Altitude Set: 70.878514 # Vehicle Depth:797.163029 # Seafloor Depth:-867.391632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 170.11; MB_Bottom_Detect_Filter_Min_Depth = 35.44; MB_Bottom_Detect_Filter_Max_Depth = 170.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.644416 meters # Minimum depth: 867.242126 meters looking forward 200.000000 meters along route # Maximum depth: 868.086877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.242126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789544; longitude = -118.636291; captureRadius = 10; duration = 109; initialDepth = 797.242126; finalDepth = 797.163029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.3337260000001 # Altitude Set: 70.3337260000001 # Vehicle Depth:797.242126 # Seafloor Depth:-867.575852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 168.80; MB_Bottom_Detect_Filter_Min_Depth = 35.17; MB_Bottom_Detect_Filter_Max_Depth = 168.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 100.454104 meters # Minimum depth: 867.840232 meters looking forward 200.000000 meters along route # Maximum depth: 868.153971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.840232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788988; longitude = -118.635311; captureRadius = 10; duration = 100; initialDepth = 797.840232; finalDepth = 797.242126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.3337260000001 # Altitude Set: 70.3337260000001 # Vehicle Depth:797.840232 # Seafloor Depth:-868.153971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 168.80; MB_Bottom_Detect_Filter_Min_Depth = 35.17; MB_Bottom_Detect_Filter_Max_Depth = 168.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 107.698587 meters # Minimum depth: 867.691116 meters looking forward 200.000000 meters along route # Maximum depth: 868.059694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.691116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788599; longitude = -118.636291; captureRadius = 10; duration = 107; initialDepth = 797.691116; finalDepth = 797.840232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.3604780000001 # Altitude Set: 70.3604780000001 # Vehicle Depth:797.691116 # Seafloor Depth:-868.051594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 168.87; MB_Bottom_Detect_Filter_Min_Depth = 35.18; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.029083 meters # Minimum depth: 867.672181 meters looking forward 200.000000 meters along route # Maximum depth: 867.972928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.672181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788182; longitude = -118.637341; captureRadius = 10; duration = 105; initialDepth = 797.672181; finalDepth = 797.691116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.3604780000001 # Altitude Set: 70.3604780000001 # Vehicle Depth:797.672181 # Seafloor Depth:-867.711556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 168.87; MB_Bottom_Detect_Filter_Min_Depth = 35.18; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.051664 meters # Minimum depth: 867.672181 meters looking forward 200.000000 meters along route # Maximum depth: 868.409426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.672181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787775; longitude = -118.638365; captureRadius = 10; duration = 105; initialDepth = 797.672181; finalDepth = 797.672181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.282633 # Altitude Set: 70.282633 # Vehicle Depth:797.672181 # Seafloor Depth:-867.954814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 168.68; MB_Bottom_Detect_Filter_Min_Depth = 35.14; MB_Bottom_Detect_Filter_Max_Depth = 168.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 86.980720 meters # Minimum depth: 867.648560 meters looking forward 200.000000 meters along route # Maximum depth: 868.409426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.648560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787367; longitude = -118.639389; captureRadius = 10; duration = 86; initialDepth = 797.648560; finalDepth = 797.672181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.522369 # Altitude Set: 70.522369 # Vehicle Depth:797.64856 # Seafloor Depth:-868.170929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 169.25; MB_Bottom_Detect_Filter_Min_Depth = 35.26; MB_Bottom_Detect_Filter_Max_Depth = 169.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.576097 meters # Minimum depth: 866.965326 meters looking forward 200.000000 meters along route # Maximum depth: 868.170929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.965326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788009; longitude = -118.638848; captureRadius = 10; duration = 105; initialDepth = 796.965326; finalDepth = 797.648560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.612939 # Altitude Set: 70.612939 # Vehicle Depth:796.965326 # Seafloor Depth:-867.578265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 169.47; MB_Bottom_Detect_Filter_Min_Depth = 35.31; MB_Bottom_Detect_Filter_Max_Depth = 169.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 111.208514 meters # Minimum depth: 866.884968 meters looking forward 200.000000 meters along route # Maximum depth: 867.309618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.884968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788787; longitude = -118.638192; captureRadius = 10; duration = 111; initialDepth = 796.884968; finalDepth = 796.965326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.612939 # Altitude Set: 70.612939 # Vehicle Depth:796.884968 # Seafloor Depth:-866.902427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 169.47; MB_Bottom_Detect_Filter_Min_Depth = 35.31; MB_Bottom_Detect_Filter_Max_Depth = 169.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 111.455475 meters # Minimum depth: 866.958726 meters looking forward 200.000000 meters along route # Maximum depth: 867.954042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.958726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789607; longitude = -118.637500; captureRadius = 10; duration = 111; initialDepth = 796.958726; finalDepth = 796.884968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.404659 # Altitude Set: 70.404659 # Vehicle Depth:796.958726 # Seafloor Depth:-867.363385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 168.97; MB_Bottom_Detect_Filter_Min_Depth = 35.20; MB_Bottom_Detect_Filter_Max_Depth = 168.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 117.227823 meters # Minimum depth: 867.445486 meters looking forward 200.000000 meters along route # Maximum depth: 868.541487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.445486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790429; longitude = -118.636808; captureRadius = 10; duration = 117; initialDepth = 797.445486; finalDepth = 796.958726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5119120000001 # Altitude Set: 70.5119120000001 # Vehicle Depth:797.445486 # Seafloor Depth:-867.957398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 35.26; MB_Bottom_Detect_Filter_Max_Depth = 169.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.940032 meters # Minimum depth: 867.947840 meters looking forward 200.000000 meters along route # Maximum depth: 868.541487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.947840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791293; longitude = -118.636079; captureRadius = 10; duration = 104; initialDepth = 797.947840; finalDepth = 797.445486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5119120000001 # Altitude Set: 70.5119120000001 # Vehicle Depth:797.94784 # Seafloor Depth:-868.300162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 35.26; MB_Bottom_Detect_Filter_Max_Depth = 169.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 111.207040 meters # Minimum depth: 867.947840 meters looking forward 200.000000 meters along route # Maximum depth: 868.586859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.947840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792067; longitude = -118.635426; captureRadius = 10; duration = 111; initialDepth = 797.947840; finalDepth = 797.947840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.4287399999999 # Altitude Set: 70.4287399999999 # Vehicle Depth:797.94784 # Seafloor Depth:-868.376580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.21; MB_Bottom_Detect_Filter_Max_Range = 169.03; MB_Bottom_Detect_Filter_Min_Depth = 35.21; MB_Bottom_Detect_Filter_Max_Depth = 169.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 112.088655 meters # Minimum depth: 868.192356 meters looking forward 200.000000 meters along route # Maximum depth: 868.586859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.192356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792886; longitude = -118.634735; captureRadius = 10; duration = 112; initialDepth = 798.192356; finalDepth = 797.947840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.4287399999999 # Altitude Set: 70.4287399999999 # Vehicle Depth:798.192356 # Seafloor Depth:-868.345155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.21; MB_Bottom_Detect_Filter_Max_Range = 169.03; MB_Bottom_Detect_Filter_Min_Depth = 35.21; MB_Bottom_Detect_Filter_Max_Depth = 169.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 117.226268 meters # Minimum depth: 868.025614 meters looking forward 200.000000 meters along route # Maximum depth: 868.572451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.025614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793713; longitude = -118.634038; captureRadius = 10; duration = 117; initialDepth = 798.025614; finalDepth = 798.192356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.3821859999999 # Altitude Set: 70.3821859999999 # Vehicle Depth:798.025614 # Seafloor Depth:-868.407800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.19; MB_Bottom_Detect_Filter_Max_Range = 168.92; MB_Bottom_Detect_Filter_Min_Depth = 35.19; MB_Bottom_Detect_Filter_Max_Depth = 168.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 117.225857 meters # Minimum depth: 865.576431 meters looking forward 200.000000 meters along route # Maximum depth: 868.572451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.576431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.633309; captureRadius = 10; duration = 117; initialDepth = 795.576431; finalDepth = 798.025614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.9602460000001 # Altitude Set: 72.9602460000001 # Vehicle Depth:795.576431 # Seafloor Depth:-868.536677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 175.10; MB_Bottom_Detect_Filter_Min_Depth = 36.48; MB_Bottom_Detect_Filter_Max_Depth = 175.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.471877 meters # Minimum depth: 862.623046 meters looking forward 200.000000 meters along route # Maximum depth: 868.217960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.623046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795441; longitude = -118.632580; captureRadius = 10; duration = 100; initialDepth = 792.623046; finalDepth = 795.576431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.9602460000001 # Altitude Set: 72.9602460000001 # Vehicle Depth:792.623046 # Seafloor Depth:-865.346277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 175.10; MB_Bottom_Detect_Filter_Min_Depth = 36.48; MB_Bottom_Detect_Filter_Max_Depth = 175.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 99.413897 meters # Minimum depth: 862.005622 meters looking forward 200.000000 meters along route # Maximum depth: 865.346277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.005622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796182; longitude = -118.631956; captureRadius = 10; duration = 99; initialDepth = 792.005622; finalDepth = 792.623046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7232309999999 # Altitude Set: 72.7232309999999 # Vehicle Depth:792.005622 # Seafloor Depth:-862.332291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.36; MB_Bottom_Detect_Filter_Max_Range = 174.54; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.586103 meters # Minimum depth: 860.762803 meters looking forward 200.000000 meters along route # Maximum depth: 862.524743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.762803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796698; longitude = -118.632833; captureRadius = 10; duration = 100; initialDepth = 790.762803; finalDepth = 792.005622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.1503140000001 # Altitude Set: 71.1503140000001 # Vehicle Depth:790.762803 # Seafloor Depth:-861.913117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 170.76; MB_Bottom_Detect_Filter_Min_Depth = 35.58; MB_Bottom_Detect_Filter_Max_Depth = 170.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 79.551631 meters # Minimum depth: 860.618881 meters looking forward 200.000000 meters along route # Maximum depth: 862.093162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.618881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797220; longitude = -118.633722; captureRadius = 10; duration = 79; initialDepth = 790.618881; finalDepth = 790.762803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.1503140000001 # Altitude Set: 71.1503140000001 # Vehicle Depth:790.618881 # Seafloor Depth:-860.618881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 170.76; MB_Bottom_Detect_Filter_Min_Depth = 35.58; MB_Bottom_Detect_Filter_Max_Depth = 170.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 114.851778 meters # Minimum depth: 860.618881 meters looking forward 200.000000 meters along route # Maximum depth: 864.932753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.618881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796634; longitude = -118.634216; captureRadius = 10; duration = 114; initialDepth = 790.618881; finalDepth = 790.618881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.197538 # Altitude Set: 71.197538 # Vehicle Depth:790.618881 # Seafloor Depth:-861.816419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 170.87; MB_Bottom_Detect_Filter_Min_Depth = 35.60; MB_Bottom_Detect_Filter_Max_Depth = 170.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 117.224825 meters # Minimum depth: 863.281464 meters looking forward 200.000000 meters along route # Maximum depth: 867.578027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.281464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.634930; captureRadius = 10; duration = 117; initialDepth = 793.281464; finalDepth = 790.618881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.7832169999999 # Altitude Set: 71.7832169999999 # Vehicle Depth:793.281464 # Seafloor Depth:-865.064681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.89; MB_Bottom_Detect_Filter_Max_Range = 172.28; MB_Bottom_Detect_Filter_Min_Depth = 35.89; MB_Bottom_Detect_Filter_Max_Depth = 172.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.546472 meters # Minimum depth: 866.031603 meters looking forward 200.000000 meters along route # Maximum depth: 868.070418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.031603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.635659; captureRadius = 10; duration = 101; initialDepth = 796.031603; finalDepth = 793.281464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.7832169999999 # Altitude Set: 71.7832169999999 # Vehicle Depth:796.031603 # Seafloor Depth:-867.733532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.89; MB_Bottom_Detect_Filter_Max_Range = 172.28; MB_Bottom_Detect_Filter_Min_Depth = 35.89; MB_Bottom_Detect_Filter_Max_Depth = 172.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 111.208430 meters # Minimum depth: 867.875861 meters looking forward 200.000000 meters along route # Maximum depth: 868.426947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.875861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794174; longitude = -118.636291; captureRadius = 10; duration = 111; initialDepth = 797.875861; finalDepth = 796.031603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.701929 # Altitude Set: 71.701929 # Vehicle Depth:797.875861 # Seafloor Depth:-867.898176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.85; MB_Bottom_Detect_Filter_Max_Range = 172.08; MB_Bottom_Detect_Filter_Min_Depth = 35.85; MB_Bottom_Detect_Filter_Max_Depth = 172.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 115.476787 meters # Minimum depth: 868.149740 meters looking forward 200.000000 meters along route # Maximum depth: 868.426947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.149740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793354; longitude = -118.636982; captureRadius = 10; duration = 115; initialDepth = 798.149740; finalDepth = 797.875861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.143129 # Altitude Set: 70.143129 # Vehicle Depth:798.14974 # Seafloor Depth:-868.292869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.07; MB_Bottom_Detect_Filter_Max_Range = 168.34; MB_Bottom_Detect_Filter_Min_Depth = 35.07; MB_Bottom_Detect_Filter_Max_Depth = 168.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 117.226382 meters # Minimum depth: 867.336134 meters looking forward 200.000000 meters along route # Maximum depth: 868.405174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.336134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792503; longitude = -118.637700; captureRadius = 10; duration = 117; initialDepth = 797.336134; finalDepth = 798.149740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.79497 # Altitude Set: 70.79497 # Vehicle Depth:797.336134 # Seafloor Depth:-868.131104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 169.91; MB_Bottom_Detect_Filter_Min_Depth = 35.40; MB_Bottom_Detect_Filter_Max_Depth = 169.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.924330 meters # Minimum depth: 866.176812 meters looking forward 200.000000 meters along route # Maximum depth: 868.008398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.176812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791639; longitude = -118.638429; captureRadius = 10; duration = 100; initialDepth = 796.176812; finalDepth = 797.336134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.095917 # Altitude Set: 71.095917 # Vehicle Depth:796.176812 # Seafloor Depth:-867.272729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 170.63; MB_Bottom_Detect_Filter_Min_Depth = 35.55; MB_Bottom_Detect_Filter_Max_Depth = 170.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 111.209904 meters # Minimum depth: 864.307977 meters looking forward 200.000000 meters along route # Maximum depth: 867.176462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.307977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790895; longitude = -118.639056; captureRadius = 10; duration = 111; initialDepth = 794.307977; finalDepth = 796.176812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.750593 # Altitude Set: 71.750593 # Vehicle Depth:794.307977 # Seafloor Depth:-866.058570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 172.20; MB_Bottom_Detect_Filter_Min_Depth = 35.88; MB_Bottom_Detect_Filter_Max_Depth = 172.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 116.101813 meters # Minimum depth: 864.307977 meters looking forward 200.000000 meters along route # Maximum depth: 865.865293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.307977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790075; longitude = -118.639748; captureRadius = 10; duration = 116; initialDepth = 794.307977; finalDepth = 794.307977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.750593 # Altitude Set: 71.750593 # Vehicle Depth:794.307977 # Seafloor Depth:-864.309753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 172.20; MB_Bottom_Detect_Filter_Min_Depth = 35.88; MB_Bottom_Detect_Filter_Max_Depth = 172.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.286006 meters # Minimum depth: 864.497171 meters looking forward 200.000000 meters along route # Maximum depth: 867.208610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.497171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789219; longitude = -118.640469; captureRadius = 10; duration = 110; initialDepth = 794.497171; finalDepth = 794.307977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.451095 # Altitude Set: 71.451095 # Vehicle Depth:794.497171 # Seafloor Depth:-865.948266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 171.48; MB_Bottom_Detect_Filter_Min_Depth = 35.73; MB_Bottom_Detect_Filter_Max_Depth = 171.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 95.083444 meters # Minimum depth: 866.422128 meters looking forward 200.000000 meters along route # Maximum depth: 867.263992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.422128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788406; longitude = -118.641155; captureRadius = 10; duration = 95; initialDepth = 796.422128; finalDepth = 794.497171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.451095 # Altitude Set: 71.451095 # Vehicle Depth:796.422128 # Seafloor Depth:-867.263992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 171.48; MB_Bottom_Detect_Filter_Min_Depth = 35.73; MB_Bottom_Detect_Filter_Max_Depth = 171.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.916556 meters # Minimum depth: 865.955217 meters looking forward 200.000000 meters along route # Maximum depth: 867.263992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.955217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788899; longitude = -118.641995; captureRadius = 10; duration = 104; initialDepth = 795.955217; finalDepth = 796.422128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.841864 # Altitude Set: 70.841864 # Vehicle Depth:795.955217 # Seafloor Depth:-866.652366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 170.02; MB_Bottom_Detect_Filter_Min_Depth = 35.42; MB_Bottom_Detect_Filter_Max_Depth = 170.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 93.408841 meters # Minimum depth: 865.867491 meters looking forward 200.000000 meters along route # Maximum depth: 866.652366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.867491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789444; longitude = -118.642921; captureRadius = 10; duration = 93; initialDepth = 795.867491; finalDepth = 795.955217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.6971490000001 # Altitude Set: 70.6971490000001 # Vehicle Depth:795.867491 # Seafloor Depth:-866.081558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.35; MB_Bottom_Detect_Filter_Max_Range = 169.67; MB_Bottom_Detect_Filter_Min_Depth = 35.35; MB_Bottom_Detect_Filter_Max_Depth = 169.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.211847 meters # Minimum depth: 863.335906 meters looking forward 200.000000 meters along route # Maximum depth: 866.046011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.335906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790132; longitude = -118.642340; captureRadius = 10; duration = 111; initialDepth = 793.335906; finalDepth = 795.867491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.458847 # Altitude Set: 72.458847 # Vehicle Depth:793.335906 # Seafloor Depth:-865.794753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.90; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 116.535215 meters # Minimum depth: 861.019229 meters looking forward 200.000000 meters along route # Maximum depth: 865.236418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.019229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790952; longitude = -118.641649; captureRadius = 10; duration = 116; initialDepth = 791.019229; finalDepth = 793.335906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.458847 # Altitude Set: 72.458847 # Vehicle Depth:791.019229 # Seafloor Depth:-863.320313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.90; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 105.887374 meters # Minimum depth: 860.243306 meters looking forward 200.000000 meters along route # Maximum depth: 862.962129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.243306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791811; longitude = -118.640924; captureRadius = 10; duration = 105; initialDepth = 790.243306; finalDepth = 791.019229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.3010840000001 # Altitude Set: 72.3010840000001 # Vehicle Depth:790.243306 # Seafloor Depth:-860.915532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 173.52; MB_Bottom_Detect_Filter_Min_Depth = 36.15; MB_Bottom_Detect_Filter_Max_Depth = 173.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.210741 meters # Minimum depth: 860.243306 meters looking forward 200.000000 meters along route # Maximum depth: 863.343525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.243306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792592; longitude = -118.640266; captureRadius = 10; duration = 111; initialDepth = 790.243306; finalDepth = 790.243306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.030609 # Altitude Set: 71.030609 # Vehicle Depth:790.243306 # Seafloor Depth:-861.273915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 170.47; MB_Bottom_Detect_Filter_Min_Depth = 35.52; MB_Bottom_Detect_Filter_Max_Depth = 170.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.210373 meters # Minimum depth: 861.929726 meters looking forward 200.000000 meters along route # Maximum depth: 863.591154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.929726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793412; longitude = -118.639575; captureRadius = 10; duration = 111; initialDepth = 791.929726; finalDepth = 790.243306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.471081 # Altitude Set: 71.471081 # Vehicle Depth:791.929726 # Seafloor Depth:-863.400807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 171.53; MB_Bottom_Detect_Filter_Min_Depth = 35.74; MB_Bottom_Detect_Filter_Max_Depth = 171.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 117.145970 meters # Minimum depth: 861.077711 meters looking forward 200.000000 meters along route # Maximum depth: 863.591154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.077711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794232; longitude = -118.638883; captureRadius = 10; duration = 117; initialDepth = 791.077711; finalDepth = 791.929726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.6663629999999 # Altitude Set: 71.6663629999999 # Vehicle Depth:791.077711 # Seafloor Depth:-862.744074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.83; MB_Bottom_Detect_Filter_Max_Range = 172.00; MB_Bottom_Detect_Filter_Min_Depth = 35.83; MB_Bottom_Detect_Filter_Max_Depth = 172.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 105.273668 meters # Minimum depth: 860.220972 meters looking forward 200.000000 meters along route # Maximum depth: 862.499017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.220972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.638155; captureRadius = 10; duration = 105; initialDepth = 790.220972; finalDepth = 791.077711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.6663629999999 # Altitude Set: 71.6663629999999 # Vehicle Depth:790.220972 # Seafloor Depth:-861.000397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.83; MB_Bottom_Detect_Filter_Max_Range = 172.00; MB_Bottom_Detect_Filter_Min_Depth = 35.83; MB_Bottom_Detect_Filter_Max_Depth = 172.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.209267 meters # Minimum depth: 860.189104 meters looking forward 200.000000 meters along route # Maximum depth: 860.636581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.189104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795872; longitude = -118.637500; captureRadius = 10; duration = 111; initialDepth = 790.189104; finalDepth = 790.220972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7794250000001 # Altitude Set: 70.7794250000001 # Vehicle Depth:790.189104 # Seafloor Depth:-860.189104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 169.87; MB_Bottom_Detect_Filter_Min_Depth = 35.39; MB_Bottom_Detect_Filter_Max_Depth = 169.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.742881 meters # Minimum depth: 859.577925 meters looking forward 200.000000 meters along route # Maximum depth: 860.395729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.577925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796692; longitude = -118.636809; captureRadius = 10; duration = 111; initialDepth = 789.577925; finalDepth = 790.189104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7208599999999 # Altitude Set: 70.7208599999999 # Vehicle Depth:789.577925 # Seafloor Depth:-860.298785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 169.73; MB_Bottom_Detect_Filter_Min_Depth = 35.36; MB_Bottom_Detect_Filter_Max_Depth = 169.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.772181 meters # Minimum depth: 856.479356 meters looking forward 200.000000 meters along route # Maximum depth: 860.062134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.479356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797516; longitude = -118.636114; captureRadius = 10; duration = 100; initialDepth = 786.479356; finalDepth = 789.577925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.094534 # Altitude Set: 73.094534 # Vehicle Depth:786.479356 # Seafloor Depth:-859.573890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 175.43; MB_Bottom_Detect_Filter_Min_Depth = 36.55; MB_Bottom_Detect_Filter_Max_Depth = 175.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 90.896929 meters # Minimum depth: 856.202135 meters looking forward 200.000000 meters along route # Maximum depth: 859.577925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.202135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798259; longitude = -118.635488; captureRadius = 10; duration = 90; initialDepth = 786.202135; finalDepth = 786.479356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.094534 # Altitude Set: 73.094534 # Vehicle Depth:786.202135 # Seafloor Depth:-856.332214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 175.43; MB_Bottom_Detect_Filter_Min_Depth = 36.55; MB_Bottom_Detect_Filter_Max_Depth = 175.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.103071 meters # Minimum depth: 854.416277 meters looking forward 200.000000 meters along route # Maximum depth: 856.915304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.416277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798730; longitude = -118.636291; captureRadius = 10; duration = 109; initialDepth = 784.416277; finalDepth = 786.202135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.24225 # Altitude Set: 72.24225 # Vehicle Depth:784.416277 # Seafloor Depth:-856.658527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 173.38; MB_Bottom_Detect_Filter_Min_Depth = 36.12; MB_Bottom_Detect_Filter_Max_Depth = 173.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 100.916890 meters # Minimum depth: 854.209808 meters looking forward 200.000000 meters along route # Maximum depth: 856.276577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.209808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799297; longitude = -118.637254; captureRadius = 10; duration = 100; initialDepth = 784.209808; finalDepth = 784.416277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.24225 # Altitude Set: 72.24225 # Vehicle Depth:784.209808 # Seafloor Depth:-854.209808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 173.38; MB_Bottom_Detect_Filter_Min_Depth = 36.12; MB_Bottom_Detect_Filter_Max_Depth = 173.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.545455 meters # Minimum depth: 853.338854 meters looking forward 200.000000 meters along route # Maximum depth: 854.544953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.338854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798553; longitude = -118.637881; captureRadius = 10; duration = 105; initialDepth = 783.338854; finalDepth = 784.209808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.886119 # Altitude Set: 70.886119 # Vehicle Depth:783.338854 # Seafloor Depth:-854.224973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 170.13; MB_Bottom_Detect_Filter_Min_Depth = 35.44; MB_Bottom_Detect_Filter_Max_Depth = 170.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 111.210749 meters # Minimum depth: 851.195316 meters looking forward 200.000000 meters along route # Maximum depth: 854.028926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.195316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797774; longitude = -118.638538; captureRadius = 10; duration = 111; initialDepth = 781.195316; finalDepth = 783.338854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.9393329999999 # Altitude Set: 71.9393329999999 # Vehicle Depth:781.195316 # Seafloor Depth:-853.134649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 172.65; MB_Bottom_Detect_Filter_Min_Depth = 35.97; MB_Bottom_Detect_Filter_Max_Depth = 172.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 111.465803 meters # Minimum depth: 849.615222 meters looking forward 200.000000 meters along route # Maximum depth: 852.705304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.615222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796955; longitude = -118.639229; captureRadius = 10; duration = 111; initialDepth = 779.615222; finalDepth = 781.195316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.9393329999999 # Altitude Set: 71.9393329999999 # Vehicle Depth:779.615222 # Seafloor Depth:-851.070522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 172.65; MB_Bottom_Detect_Filter_Min_Depth = 35.97; MB_Bottom_Detect_Filter_Max_Depth = 172.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 117.222923 meters # Minimum depth: 846.905809 meters looking forward 200.000000 meters along route # Maximum depth: 850.370616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.905809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796133; longitude = -118.639922; captureRadius = 10; duration = 117; initialDepth = 776.905809; finalDepth = 779.615222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7048070000001 # Altitude Set: 72.7048070000001 # Vehicle Depth:776.905809 # Seafloor Depth:-849.610616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 174.49; MB_Bottom_Detect_Filter_Min_Depth = 36.35; MB_Bottom_Detect_Filter_Max_Depth = 174.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.945734 meters # Minimum depth: 846.662774 meters looking forward 200.000000 meters along route # Maximum depth: 849.192798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.662774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795268; longitude = -118.640651; captureRadius = 10; duration = 104; initialDepth = 776.662774; finalDepth = 776.905809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7048070000001 # Altitude Set: 72.7048070000001 # Vehicle Depth:776.662774 # Seafloor Depth:-846.765360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 174.49; MB_Bottom_Detect_Filter_Min_Depth = 36.35; MB_Bottom_Detect_Filter_Max_Depth = 174.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 111.212224 meters # Minimum depth: 846.662774 meters looking forward 200.000000 meters along route # Maximum depth: 851.900164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.662774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794495; longitude = -118.641303; captureRadius = 10; duration = 111; initialDepth = 776.662774; finalDepth = 776.662774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.632154 # Altitude Set: 70.632154 # Vehicle Depth:776.662774 # Seafloor Depth:-847.294928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.32; MB_Bottom_Detect_Filter_Max_Range = 169.52; MB_Bottom_Detect_Filter_Min_Depth = 35.32; MB_Bottom_Detect_Filter_Max_Depth = 169.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 112.068409 meters # Minimum depth: 847.958346 meters looking forward 200.000000 meters along route # Maximum depth: 857.071180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.958346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793675; longitude = -118.641995; captureRadius = 10; duration = 112; initialDepth = 777.958346; finalDepth = 776.662774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.244194 # Altitude Set: 74.244194 # Vehicle Depth:777.958346 # Seafloor Depth:-852.202540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.12; MB_Bottom_Detect_Filter_Max_Range = 178.19; MB_Bottom_Detect_Filter_Min_Depth = 37.12; MB_Bottom_Detect_Filter_Max_Depth = 178.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.357145 meters # Minimum depth: 853.677016 meters looking forward 200.000000 meters along route # Maximum depth: 860.613878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.677016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792849; longitude = -118.642691; captureRadius = 10; duration = 110; initialDepth = 783.677016; finalDepth = 777.958346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.244194 # Altitude Set: 74.244194 # Vehicle Depth:783.677016 # Seafloor Depth:-857.100624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.12; MB_Bottom_Detect_Filter_Max_Range = 178.19; MB_Bottom_Detect_Filter_Min_Depth = 37.12; MB_Bottom_Detect_Filter_Max_Depth = 178.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.647215 meters # Minimum depth: 857.826051 meters looking forward 200.000000 meters along route # Maximum depth: 863.766623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.826051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792035; longitude = -118.643377; captureRadius = 10; duration = 100; initialDepth = 787.826051; finalDepth = 783.677016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4236080000001 # Altitude Set: 73.4236080000001 # Vehicle Depth:787.826051 # Seafloor Depth:-861.226321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.71; MB_Bottom_Detect_Filter_Max_Range = 176.22; MB_Bottom_Detect_Filter_Min_Depth = 36.71; MB_Bottom_Detect_Filter_Max_Depth = 176.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.015811 meters # Minimum depth: 862.159125 meters looking forward 200.000000 meters along route # Maximum depth: 865.238655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.159125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791293; longitude = -118.644003; captureRadius = 10; duration = 110; initialDepth = 792.159125; finalDepth = 787.826051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.40027 # Altitude Set: 73.40027 # Vehicle Depth:792.159125 # Seafloor Depth:-864.129701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.70; MB_Bottom_Detect_Filter_Max_Range = 176.16; MB_Bottom_Detect_Filter_Min_Depth = 36.70; MB_Bottom_Detect_Filter_Max_Depth = 176.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 89.668288 meters # Minimum depth: 864.129701 meters looking forward 200.000000 meters along route # Maximum depth: 865.301932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.129701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790482; longitude = -118.644687; captureRadius = 10; duration = 89; initialDepth = 794.129701; finalDepth = 792.159125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.9705759999999 # Altitude Set: 71.9705759999999 # Vehicle Depth:794.129701 # Seafloor Depth:-865.177551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 172.73; MB_Bottom_Detect_Filter_Min_Depth = 35.99; MB_Bottom_Detect_Filter_Max_Depth = 172.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 110.331712 meters # Minimum depth: 864.527179 meters looking forward 200.000000 meters along route # Maximum depth: 865.301932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.527179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790947; longitude = -118.645479; captureRadius = 10; duration = 110; initialDepth = 794.527179; finalDepth = 794.129701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.04785 # Altitude Set: 71.04785 # Vehicle Depth:794.527179 # Seafloor Depth:-865.188919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 170.51; MB_Bottom_Detect_Filter_Min_Depth = 35.52; MB_Bottom_Detect_Filter_Max_Depth = 170.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 86.441419 meters # Minimum depth: 862.648201 meters looking forward 200.000000 meters along route # Maximum depth: 865.205893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.648201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791520; longitude = -118.646453; captureRadius = 10; duration = 86; initialDepth = 792.648201; finalDepth = 794.527179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.825203 # Altitude Set: 71.825203 # Vehicle Depth:792.648201 # Seafloor Depth:-864.473404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 172.38; MB_Bottom_Detect_Filter_Min_Depth = 35.91; MB_Bottom_Detect_Filter_Max_Depth = 172.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.467212 meters # Minimum depth: 859.745644 meters looking forward 200.000000 meters along route # Maximum depth: 864.735704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.745644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792157; longitude = -118.645916; captureRadius = 10; duration = 102; initialDepth = 789.745644; finalDepth = 792.648201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.637343 # Altitude Set: 72.637343 # Vehicle Depth:789.745644 # Seafloor Depth:-862.382987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 174.33; MB_Bottom_Detect_Filter_Min_Depth = 36.32; MB_Bottom_Detect_Filter_Max_Depth = 174.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 111.214537 meters # Minimum depth: 854.873901 meters looking forward 200.000000 meters along route # Maximum depth: 861.756127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.873901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792913; longitude = -118.645279; captureRadius = 10; duration = 111; initialDepth = 784.873901; finalDepth = 789.745644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5833259999999 # Altitude Set: 74.5833259999999 # Vehicle Depth:784.873901 # Seafloor Depth:-859.457227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.29; MB_Bottom_Detect_Filter_Max_Range = 179.00; MB_Bottom_Detect_Filter_Min_Depth = 37.29; MB_Bottom_Detect_Filter_Max_Depth = 179.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 114.543104 meters # Minimum depth: 847.089187 meters looking forward 200.000000 meters along route # Maximum depth: 858.522137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.089187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793733; longitude = -118.644587; captureRadius = 10; duration = 114; initialDepth = 777.089187; finalDepth = 784.873901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.653511 # Altitude Set: 77.653511 # Vehicle Depth:777.089187 # Seafloor Depth:-854.742698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 186.37; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 186.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 117.222383 meters # Minimum depth: 840.096547 meters looking forward 200.000000 meters along route # Maximum depth: 852.370420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.096547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.643875; captureRadius = 10; duration = 117; initialDepth = 770.096547; finalDepth = 777.089187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.653511 # Altitude Set: 77.653511 # Vehicle Depth:770.096547 # Seafloor Depth:-846.803467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 186.37; MB_Bottom_Detect_Filter_Min_Depth = 38.83; MB_Bottom_Detect_Filter_Max_Depth = 186.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.875911 meters # Minimum depth: 836.491335 meters looking forward 200.000000 meters along route # Maximum depth: 844.822834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.491335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795441; longitude = -118.643147; captureRadius = 10; duration = 101; initialDepth = 766.491335; finalDepth = 770.096547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.70692 # Altitude Set: 76.70692 # Vehicle Depth:766.491335 # Seafloor Depth:-839.700931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.35; MB_Bottom_Detect_Filter_Max_Range = 184.10; MB_Bottom_Detect_Filter_Min_Depth = 38.35; MB_Bottom_Detect_Filter_Max_Depth = 184.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 111.213062 meters # Minimum depth: 834.929813 meters looking forward 200.000000 meters along route # Maximum depth: 839.101579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.929813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796192; longitude = -118.642513; captureRadius = 10; duration = 111; initialDepth = 764.929813; finalDepth = 766.491335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.2095959999999 # Altitude Set: 73.2095959999999 # Vehicle Depth:764.929813 # Seafloor Depth:-836.104723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 175.70; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 115.131520 meters # Minimum depth: 834.929813 meters looking forward 200.000000 meters along route # Maximum depth: 840.109535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.929813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797012; longitude = -118.641822; captureRadius = 10; duration = 115; initialDepth = 764.929813; finalDepth = 764.929813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.1749100000001 # Altitude Set: 71.1749100000001 # Vehicle Depth:764.929813 # Seafloor Depth:-835.907857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 170.82; MB_Bottom_Detect_Filter_Min_Depth = 35.59; MB_Bottom_Detect_Filter_Max_Depth = 170.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 117.220826 meters # Minimum depth: 837.531887 meters looking forward 200.000000 meters along route # Maximum depth: 845.137600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.531887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797861; longitude = -118.641106; captureRadius = 10; duration = 117; initialDepth = 767.531887; finalDepth = 764.929813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.745298 # Altitude Set: 72.745298 # Vehicle Depth:767.531887 # Seafloor Depth:-840.277185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 174.59; MB_Bottom_Detect_Filter_Min_Depth = 36.37; MB_Bottom_Detect_Filter_Max_Depth = 174.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 117.220416 meters # Minimum depth: 842.583564 meters looking forward 200.000000 meters along route # Maximum depth: 848.556207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.583564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798726; longitude = -118.640377; captureRadius = 10; duration = 117; initialDepth = 772.583564; finalDepth = 767.531887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.860966 # Altitude Set: 72.860966 # Vehicle Depth:772.583564 # Seafloor Depth:-845.444530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.43; MB_Bottom_Detect_Filter_Max_Range = 174.87; MB_Bottom_Detect_Filter_Min_Depth = 36.43; MB_Bottom_Detect_Filter_Max_Depth = 174.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.057968 meters # Minimum depth: 846.343109 meters looking forward 200.000000 meters along route # Maximum depth: 849.374574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.343109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799590; longitude = -118.639648; captureRadius = 10; duration = 101; initialDepth = 776.343109; finalDepth = 772.583564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.860966 # Altitude Set: 72.860966 # Vehicle Depth:776.343109 # Seafloor Depth:-848.795811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.43; MB_Bottom_Detect_Filter_Max_Range = 174.87; MB_Bottom_Detect_Filter_Min_Depth = 36.43; MB_Bottom_Detect_Filter_Max_Depth = 174.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 89.558262 meters # Minimum depth: 847.619997 meters looking forward 200.000000 meters along route # Maximum depth: 849.478607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.619997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800335; longitude = -118.639020; captureRadius = 10; duration = 89; initialDepth = 777.619997; finalDepth = 776.343109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.4527019999999 # Altitude Set: 72.4527019999999 # Vehicle Depth:777.619997 # Seafloor Depth:-849.478607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.89; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.441738 meters # Minimum depth: 844.860341 meters looking forward 200.000000 meters along route # Maximum depth: 849.478607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.860341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800800; longitude = -118.639811; captureRadius = 10; duration = 110; initialDepth = 774.860341; finalDepth = 777.619997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.489759 # Altitude Set: 72.489759 # Vehicle Depth:774.860341 # Seafloor Depth:-847.350100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.24; MB_Bottom_Detect_Filter_Max_Range = 173.98; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 83.122749 meters # Minimum depth: 843.960501 meters looking forward 200.000000 meters along route # Maximum depth: 847.350100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.960501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801373; longitude = -118.640786; captureRadius = 10; duration = 83; initialDepth = 773.960501; finalDepth = 774.860341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.489759 # Altitude Set: 72.489759 # Vehicle Depth:773.960501 # Seafloor Depth:-844.703568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.24; MB_Bottom_Detect_Filter_Max_Range = 173.98; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 111.847880 meters # Minimum depth: 839.770528 meters looking forward 200.000000 meters along route # Maximum depth: 844.860341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.770528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800760; longitude = -118.641303; captureRadius = 10; duration = 111; initialDepth = 769.770528; finalDepth = 773.960501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.103775 # Altitude Set: 74.103775 # Vehicle Depth:769.770528 # Seafloor Depth:-843.874303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.05; MB_Bottom_Detect_Filter_Max_Range = 177.85; MB_Bottom_Detect_Filter_Min_Depth = 37.05; MB_Bottom_Detect_Filter_Max_Depth = 177.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 117.219384 meters # Minimum depth: 833.235268 meters looking forward 200.000000 meters along route # Maximum depth: 842.750772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.235268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.641999; captureRadius = 10; duration = 117; initialDepth = 763.235268; finalDepth = 769.770528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.494507 # Altitude Set: 76.494507 # Vehicle Depth:763.235268 # Seafloor Depth:-839.729775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.25; MB_Bottom_Detect_Filter_Max_Range = 183.59; MB_Bottom_Detect_Filter_Min_Depth = 38.25; MB_Bottom_Detect_Filter_Max_Depth = 183.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.573883 meters # Minimum depth: 829.177869 meters looking forward 200.000000 meters along route # Maximum depth: 838.218880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.177869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.642727; captureRadius = 10; duration = 104; initialDepth = 759.177869; finalDepth = 763.235268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.494507 # Altitude Set: 76.494507 # Vehicle Depth:759.177869 # Seafloor Depth:-832.890288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.25; MB_Bottom_Detect_Filter_Max_Range = 183.59; MB_Bottom_Detect_Filter_Min_Depth = 38.25; MB_Bottom_Detect_Filter_Max_Depth = 183.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 111.214453 meters # Minimum depth: 828.631288 meters looking forward 200.000000 meters along route # Maximum depth: 831.860599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.631288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798300; longitude = -118.643377; captureRadius = 10; duration = 111; initialDepth = 758.631288; finalDepth = 759.177869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7124190000001 # Altitude Set: 73.7124190000001 # Vehicle Depth:758.631288 # Seafloor Depth:-828.949755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.91; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 112.428119 meters # Minimum depth: 828.631288 meters looking forward 200.000000 meters along route # Maximum depth: 835.933382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.631288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797480; longitude = -118.644069; captureRadius = 10; duration = 112; initialDepth = 758.631288; finalDepth = 758.631288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.3389239999999 # Altitude Set: 71.3389239999999 # Vehicle Depth:758.631288 # Seafloor Depth:-829.970212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.67; MB_Bottom_Detect_Filter_Max_Range = 171.21; MB_Bottom_Detect_Filter_Min_Depth = 35.67; MB_Bottom_Detect_Filter_Max_Depth = 171.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 117.220941 meters # Minimum depth: 832.215943 meters looking forward 200.000000 meters along route # Maximum depth: 842.564378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.215943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.644768; captureRadius = 10; duration = 117; initialDepth = 762.215943; finalDepth = 758.631288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7742109999999 # Altitude Set: 73.7742109999999 # Vehicle Depth:762.215943 # Seafloor Depth:-835.990154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.89; MB_Bottom_Detect_Filter_Max_Range = 177.06; MB_Bottom_Detect_Filter_Min_Depth = 36.89; MB_Bottom_Detect_Filter_Max_Depth = 177.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 103.996512 meters # Minimum depth: 837.119488 meters looking forward 200.000000 meters along route # Maximum depth: 848.192292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.119488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.645497; captureRadius = 10; duration = 103; initialDepth = 767.119488; finalDepth = 762.215943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9631449999999 # Altitude Set: 75.9631449999999 # Vehicle Depth:767.119488 # Seafloor Depth:-843.082633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.98; MB_Bottom_Detect_Filter_Max_Range = 182.31; MB_Bottom_Detect_Filter_Min_Depth = 37.98; MB_Bottom_Detect_Filter_Max_Depth = 182.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 111.215928 meters # Minimum depth: 844.458001 meters looking forward 200.000000 meters along route # Maximum depth: 853.158575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.458001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795020; longitude = -118.646143; captureRadius = 10; duration = 111; initialDepth = 774.458001; finalDepth = 767.119488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9631449999999 # Altitude Set: 75.9631449999999 # Vehicle Depth:774.458001 # Seafloor Depth:-848.625239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.98; MB_Bottom_Detect_Filter_Max_Range = 182.31; MB_Bottom_Detect_Filter_Min_Depth = 37.98; MB_Bottom_Detect_Filter_Max_Depth = 182.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 113.008375 meters # Minimum depth: 849.709267 meters looking forward 200.000000 meters along route # Maximum depth: 858.449031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.709267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794200; longitude = -118.646834; captureRadius = 10; duration = 113; initialDepth = 779.709267; finalDepth = 774.458001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.167238 # Altitude Set: 74.167238 # Vehicle Depth:779.709267 # Seafloor Depth:-853.422724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 178.00; MB_Bottom_Detect_Filter_Min_Depth = 37.08; MB_Bottom_Detect_Filter_Max_Depth = 178.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.760134 meters # Minimum depth: 854.949778 meters looking forward 200.000000 meters along route # Maximum depth: 861.505721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.949778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793367; longitude = -118.647537; captureRadius = 10; duration = 109; initialDepth = 784.949778; finalDepth = 779.709267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7134570000001 # Altitude Set: 73.7134570000001 # Vehicle Depth:784.949778 # Seafloor Depth:-858.533064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.91; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 97.630903 meters # Minimum depth: 859.708237 meters looking forward 200.000000 meters along route # Maximum depth: 861.505721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.708237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792558; longitude = -118.648219; captureRadius = 10; duration = 97; initialDepth = 789.708237; finalDepth = 784.949778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5832859999999 # Altitude Set: 73.5832859999999 # Vehicle Depth:789.708237 # Seafloor Depth:-861.492096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.79; MB_Bottom_Detect_Filter_Max_Range = 176.60; MB_Bottom_Detect_Filter_Min_Depth = 36.79; MB_Bottom_Detect_Filter_Max_Depth = 176.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.369097 meters # Minimum depth: 858.801900 meters looking forward 200.000000 meters along route # Maximum depth: 861.492096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.801900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793065; longitude = -118.649082; captureRadius = 10; duration = 102; initialDepth = 788.801900; finalDepth = 789.708237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.877755 # Altitude Set: 71.877755 # Vehicle Depth:788.8019 # Seafloor Depth:-860.679655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.94; MB_Bottom_Detect_Filter_Max_Range = 172.51; MB_Bottom_Detect_Filter_Min_Depth = 35.94; MB_Bottom_Detect_Filter_Max_Depth = 172.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 89.809371 meters # Minimum depth: 855.521926 meters looking forward 200.000000 meters along route # Maximum depth: 860.679655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.521926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793596; longitude = -118.649986; captureRadius = 10; duration = 89; initialDepth = 785.521926; finalDepth = 788.801900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.099076 # Altitude Set: 73.099076 # Vehicle Depth:785.521926 # Seafloor Depth:-858.621002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 175.44; MB_Bottom_Detect_Filter_Min_Depth = 36.55; MB_Bottom_Detect_Filter_Max_Depth = 175.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 113.604985 meters # Minimum depth: 851.017597 meters looking forward 200.000000 meters along route # Maximum depth: 858.586624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.017597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794258; longitude = -118.649427; captureRadius = 10; duration = 113; initialDepth = 781.017597; finalDepth = 785.521926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.353328 # Altitude Set: 74.353328 # Vehicle Depth:781.017597 # Seafloor Depth:-855.370925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 178.45; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 117.220401 meters # Minimum depth: 846.361563 meters looking forward 200.000000 meters along route # Maximum depth: 853.474060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.361563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.648721; captureRadius = 10; duration = 117; initialDepth = 776.361563; finalDepth = 781.017597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5567239999999 # Altitude Set: 74.5567239999999 # Vehicle Depth:776.361563 # Seafloor Depth:-850.918287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 178.94; MB_Bottom_Detect_Filter_Min_Depth = 37.28; MB_Bottom_Detect_Filter_Max_Depth = 178.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 102.827128 meters # Minimum depth: 842.863430 meters looking forward 200.000000 meters along route # Maximum depth: 849.909066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.863430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795960; longitude = -118.647992; captureRadius = 10; duration = 102; initialDepth = 772.863430; finalDepth = 776.361563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5567239999999 # Altitude Set: 74.5567239999999 # Vehicle Depth:772.86343 # Seafloor Depth:-846.150931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 178.94; MB_Bottom_Detect_Filter_Min_Depth = 37.28; MB_Bottom_Detect_Filter_Max_Depth = 178.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 111.216766 meters # Minimum depth: 835.564919 meters looking forward 200.000000 meters along route # Maximum depth: 845.696334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.564919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796718; longitude = -118.647353; captureRadius = 10; duration = 111; initialDepth = 765.564919; finalDepth = 772.863430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.825751 # Altitude Set: 76.825751 # Vehicle Depth:765.564919 # Seafloor Depth:-842.390670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.41; MB_Bottom_Detect_Filter_Max_Range = 184.38; MB_Bottom_Detect_Filter_Min_Depth = 38.41; MB_Bottom_Detect_Filter_Max_Depth = 184.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 114.171047 meters # Minimum depth: 823.363513 meters looking forward 200.000000 meters along route # Maximum depth: 840.745292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.363513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797538; longitude = -118.646662; captureRadius = 10; duration = 114; initialDepth = 753.363513; finalDepth = 765.564919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.95462 # Altitude Set: 81.95462 # Vehicle Depth:753.363513 # Seafloor Depth:-835.318133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.98; MB_Bottom_Detect_Filter_Max_Range = 196.69; MB_Bottom_Detect_Filter_Min_Depth = 40.98; MB_Bottom_Detect_Filter_Max_Depth = 196.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 117.218843 meters # Minimum depth: 821.662794 meters looking forward 200.000000 meters along route # Maximum depth: 830.485723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 751.662794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798380; longitude = -118.645952; captureRadius = 10; duration = 117; initialDepth = 751.662794; finalDepth = 753.363513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.95462 # Altitude Set: 81.95462 # Vehicle Depth:751.662794 # Seafloor Depth:-823.154934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.98; MB_Bottom_Detect_Filter_Max_Range = 196.69; MB_Bottom_Detect_Filter_Min_Depth = 40.98; MB_Bottom_Detect_Filter_Max_Depth = 196.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 102.258198 meters # Minimum depth: 821.662794 meters looking forward 200.000000 meters along route # Maximum depth: 826.642942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 751.662794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.645223; captureRadius = 10; duration = 102; initialDepth = 751.662794; finalDepth = 751.662794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.6420740000001 # Altitude Set: 71.6420740000001 # Vehicle Depth:751.662794 # Seafloor Depth:-823.304868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 171.94; MB_Bottom_Detect_Filter_Min_Depth = 35.82; MB_Bottom_Detect_Filter_Max_Depth = 171.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 111.215291 meters # Minimum depth: 824.009146 meters looking forward 200.000000 meters along route # Maximum depth: 832.663006 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.009146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799998; longitude = -118.644587; captureRadius = 10; duration = 111; initialDepth = 754.009146; finalDepth = 751.662794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.924233 # Altitude Set: 72.924233 # Vehicle Depth:754.009146 # Seafloor Depth:-826.933379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 175.02; MB_Bottom_Detect_Filter_Min_Depth = 36.46; MB_Bottom_Detect_Filter_Max_Depth = 175.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 114.737093 meters # Minimum depth: 828.168170 meters looking forward 200.000000 meters along route # Maximum depth: 839.017965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.168170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800818; longitude = -118.643896; captureRadius = 10; duration = 114; initialDepth = 758.168170; finalDepth = 754.009146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.630984 # Altitude Set: 74.630984 # Vehicle Depth:758.16817 # Seafloor Depth:-832.799154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.32; MB_Bottom_Detect_Filter_Max_Range = 179.11; MB_Bottom_Detect_Filter_Min_Depth = 37.32; MB_Bottom_Detect_Filter_Max_Depth = 179.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.329235 meters # Minimum depth: 834.101522 meters looking forward 200.000000 meters along route # Maximum depth: 840.908133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.101522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801664; longitude = -118.643183; captureRadius = 10; duration = 101; initialDepth = 764.101522; finalDepth = 758.168170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.998432 # Altitude Set: 74.998432 # Vehicle Depth:764.101522 # Seafloor Depth:-839.099954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; 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 = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 93.379998 meters # Minimum depth: 839.017965 meters looking forward 200.000000 meters along route # Maximum depth: 841.057083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.017965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802411; longitude = -118.642553; captureRadius = 10; duration = 93; initialDepth = 769.017965; finalDepth = 764.101522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.998432 # Altitude Set: 74.998432 # Vehicle Depth:769.017965 # Seafloor Depth:-841.057083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; 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 = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.620002 meters # Minimum depth: 838.797873 meters looking forward 200.000000 meters along route # Maximum depth: 841.057083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.797873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802896; longitude = -118.643377; captureRadius = 10; duration = 106; initialDepth = 768.797873; finalDepth = 769.017965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.039118 # Altitude Set: 72.039118 # Vehicle Depth:768.797873 # Seafloor Depth:-839.351630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.02; MB_Bottom_Detect_Filter_Max_Range = 172.89; MB_Bottom_Detect_Filter_Min_Depth = 36.02; MB_Bottom_Detect_Filter_Max_Depth = 172.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 78.016205 meters # Minimum depth: 836.821601 meters looking forward 200.000000 meters along route # Maximum depth: 839.402235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.821601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803449; longitude = -118.644319; captureRadius = 10; duration = 78; initialDepth = 766.821601; finalDepth = 768.797873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.061593 # Altitude Set: 72.061593 # Vehicle Depth:766.821601 # Seafloor Depth:-838.883194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 172.95; MB_Bottom_Detect_Filter_Min_Depth = 36.03; MB_Bottom_Detect_Filter_Max_Depth = 172.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.165885 meters # Minimum depth: 832.932399 meters looking forward 200.000000 meters along route # Maximum depth: 838.883194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.932399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.644804; captureRadius = 10; duration = 104; initialDepth = 762.932399; finalDepth = 766.821601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.720641 # Altitude Set: 73.720641 # Vehicle Depth:762.932399 # Seafloor Depth:-836.653040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.93; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 111.216683 meters # Minimum depth: 826.628896 meters looking forward 200.000000 meters along route # Maximum depth: 836.242020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.628896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802106; longitude = -118.645452; captureRadius = 10; duration = 111; initialDepth = 756.628896; finalDepth = 762.932399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.6652859999999 # Altitude Set: 75.6652859999999 # Vehicle Depth:756.628896 # Seafloor Depth:-832.294182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.83; MB_Bottom_Detect_Filter_Max_Range = 181.60; MB_Bottom_Detect_Filter_Min_Depth = 37.83; MB_Bottom_Detect_Filter_Max_Depth = 181.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 112.823976 meters # Minimum depth: 819.992030 meters looking forward 200.000000 meters along route # Maximum depth: 830.677601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.992030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801286; longitude = -118.646143; captureRadius = 10; duration = 112; initialDepth = 749.992030; finalDepth = 756.628896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.387665 # Altitude Set: 76.387665 # Vehicle Depth:749.99203 # Seafloor Depth:-826.379695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.19; MB_Bottom_Detect_Filter_Max_Range = 183.33; MB_Bottom_Detect_Filter_Min_Depth = 38.19; MB_Bottom_Detect_Filter_Max_Depth = 183.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 117.217401 meters # Minimum depth: 815.310308 meters looking forward 200.000000 meters along route # Maximum depth: 824.037551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 745.310308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800454; longitude = -118.646844; captureRadius = 10; duration = 117; initialDepth = 745.310308; finalDepth = 749.992030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.387665 # Altitude Set: 76.387665 # Vehicle Depth:745.310308 # Seafloor Depth:-819.903007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.19; MB_Bottom_Detect_Filter_Max_Range = 183.33; MB_Bottom_Detect_Filter_Min_Depth = 38.19; MB_Bottom_Detect_Filter_Max_Depth = 183.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.610886 meters # Minimum depth: 815.310308 meters looking forward 200.000000 meters along route # Maximum depth: 828.641123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 745.310308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799590; longitude = -118.647573; captureRadius = 10; duration = 103; initialDepth = 745.310308; finalDepth = 745.310308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.592699 # Altitude Set: 74.592699 # Vehicle Depth:745.310308 # Seafloor Depth:-815.907363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.30; MB_Bottom_Detect_Filter_Max_Range = 179.02; MB_Bottom_Detect_Filter_Min_Depth = 37.30; MB_Bottom_Detect_Filter_Max_Depth = 179.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 111.218159 meters # Minimum depth: 818.419524 meters looking forward 200.000000 meters along route # Maximum depth: 836.537184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.419524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798826; longitude = -118.648217; captureRadius = 10; duration = 111; initialDepth = 748.419524; finalDepth = 745.310308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.219013 # Altitude Set: 81.219013 # Vehicle Depth:748.419524 # Seafloor Depth:-829.638537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.61; MB_Bottom_Detect_Filter_Max_Range = 194.93; MB_Bottom_Detect_Filter_Min_Depth = 40.61; MB_Bottom_Detect_Filter_Max_Depth = 194.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 113.381859 meters # Minimum depth: 832.021117 meters looking forward 200.000000 meters along route # Maximum depth: 845.217122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.021117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798006; longitude = -118.648909; captureRadius = 10; duration = 113; initialDepth = 762.021117; finalDepth = 748.419524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.219013 # Altitude Set: 81.219013 # Vehicle Depth:762.021117 # Seafloor Depth:-836.826705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.61; MB_Bottom_Detect_Filter_Max_Range = 194.93; MB_Bottom_Detect_Filter_Min_Depth = 40.61; MB_Bottom_Detect_Filter_Max_Depth = 194.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 117.218958 meters # Minimum depth: 840.909511 meters looking forward 200.000000 meters along route # Maximum depth: 850.997010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.909511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797170; longitude = -118.649614; captureRadius = 10; duration = 117; initialDepth = 770.909511; finalDepth = 762.021117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8055879999999 # Altitude Set: 74.8055879999999 # Vehicle Depth:770.909511 # Seafloor Depth:-845.344205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 179.53; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 117.219369 meters # Minimum depth: 848.226074 meters looking forward 200.000000 meters along route # Maximum depth: 854.716307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.226074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.650342; captureRadius = 10; duration = 117; initialDepth = 778.226074; finalDepth = 770.909511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.434694 # Altitude Set: 74.434694 # Vehicle Depth:778.226074 # Seafloor Depth:-851.411179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.22; MB_Bottom_Detect_Filter_Max_Range = 178.64; MB_Bottom_Detect_Filter_Min_Depth = 37.22; MB_Bottom_Detect_Filter_Max_Depth = 178.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.518977 meters # Minimum depth: 853.540438 meters looking forward 200.000000 meters along route # Maximum depth: 857.275502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.540438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795441; longitude = -118.651071; captureRadius = 10; duration = 109; initialDepth = 783.540438; finalDepth = 778.226074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1851049999999 # Altitude Set: 73.1851049999999 # Vehicle Depth:783.540438 # Seafloor Depth:-854.896937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.59; MB_Bottom_Detect_Filter_Max_Range = 175.64; MB_Bottom_Detect_Filter_Min_Depth = 36.59; MB_Bottom_Detect_Filter_Max_Depth = 175.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 89.089614 meters # Minimum depth: 854.896937 meters looking forward 200.000000 meters along route # Maximum depth: 857.403780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.896937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794634; longitude = -118.651752; captureRadius = 10; duration = 89; initialDepth = 784.896937; finalDepth = 783.540438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.47997 # Altitude Set: 72.47997 # Vehicle Depth:784.896937 # Seafloor Depth:-857.376907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.24; MB_Bottom_Detect_Filter_Max_Range = 173.95; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.910386 meters # Minimum depth: 856.522160 meters looking forward 200.000000 meters along route # Maximum depth: 857.403780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.522160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.652539; captureRadius = 10; duration = 110; initialDepth = 786.522160; finalDepth = 784.896937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.47997 # Altitude Set: 72.47997 # Vehicle Depth:786.52216 # Seafloor Depth:-857.000684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.24; MB_Bottom_Detect_Filter_Max_Range = 173.95; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 109.403844 meters # Minimum depth: 854.661262 meters looking forward 200.000000 meters along route # Maximum depth: 856.767349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.661262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795672; longitude = -118.653518; captureRadius = 10; duration = 109; initialDepth = 784.661262; finalDepth = 786.522160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.106087 # Altitude Set: 72.106087 # Vehicle Depth:784.661262 # Seafloor Depth:-856.767349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.05; MB_Bottom_Detect_Filter_Max_Range = 173.05; MB_Bottom_Detect_Filter_Min_Depth = 36.05; MB_Bottom_Detect_Filter_Max_Depth = 173.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.769762 meters # Minimum depth: 851.683896 meters looking forward 200.000000 meters along route # Maximum depth: 856.584746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.683896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796478; longitude = -118.652838; captureRadius = 10; duration = 103; initialDepth = 781.683896; finalDepth = 784.661262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7436310000001 # Altitude Set: 72.7436310000001 # Vehicle Depth:781.683896 # Seafloor Depth:-854.427527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 174.58; MB_Bottom_Detect_Filter_Min_Depth = 36.37; MB_Bottom_Detect_Filter_Max_Depth = 174.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 111.220474 meters # Minimum depth: 847.280905 meters looking forward 200.000000 meters along route # Maximum depth: 853.643252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.280905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797244; longitude = -118.652193; captureRadius = 10; duration = 111; initialDepth = 777.280905; finalDepth = 781.683896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1949830000001 # Altitude Set: 74.1949830000001 # Vehicle Depth:777.280905 # Seafloor Depth:-851.475888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 178.07; MB_Bottom_Detect_Filter_Min_Depth = 37.10; MB_Bottom_Detect_Filter_Max_Depth = 178.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 113.219155 meters # Minimum depth: 840.645219 meters looking forward 200.000000 meters along route # Maximum depth: 850.572694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.645219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798064; longitude = -118.651502; captureRadius = 10; duration = 113; initialDepth = 770.645219; finalDepth = 777.280905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.4826430000001 # Altitude Set: 76.4826430000001 # Vehicle Depth:770.645219 # Seafloor Depth:-847.127862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.24; MB_Bottom_Detect_Filter_Max_Range = 183.56; MB_Bottom_Detect_Filter_Min_Depth = 38.24; MB_Bottom_Detect_Filter_Max_Depth = 183.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 117.216861 meters # Minimum depth: 827.543391 meters looking forward 200.000000 meters along route # Maximum depth: 845.515849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.543391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798898; longitude = -118.650798; captureRadius = 10; duration = 117; initialDepth = 757.543391; finalDepth = 770.645219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.9070849999999 # Altitude Set: 82.9070849999999 # Vehicle Depth:757.543391 # Seafloor Depth:-840.450476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.45; MB_Bottom_Detect_Filter_Max_Range = 198.98; MB_Bottom_Detect_Filter_Min_Depth = 41.45; MB_Bottom_Detect_Filter_Max_Depth = 198.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.223191 meters # Minimum depth: 820.163532 meters looking forward 200.000000 meters along route # Maximum depth: 837.842475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.163532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.650069; captureRadius = 10; duration = 103; initialDepth = 750.163532; finalDepth = 757.543391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.9070849999999 # Altitude Set: 82.9070849999999 # Vehicle Depth:750.163532 # Seafloor Depth:-826.563059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.45; MB_Bottom_Detect_Filter_Max_Range = 198.98; MB_Bottom_Detect_Filter_Min_Depth = 41.45; MB_Bottom_Detect_Filter_Max_Depth = 198.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 111.218997 meters # Minimum depth: 819.996211 meters looking forward 200.000000 meters along route # Maximum depth: 824.234868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.996211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800524; longitude = -118.649427; captureRadius = 10; duration = 111; initialDepth = 749.996211; finalDepth = 750.163532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.3995269999999 # Altitude Set: 76.3995269999999 # Vehicle Depth:749.996211 # Seafloor Depth:-820.241981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.20; MB_Bottom_Detect_Filter_Max_Range = 183.36; MB_Bottom_Detect_Filter_Min_Depth = 38.20; MB_Bottom_Detect_Filter_Max_Depth = 183.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 113.762842 meters # Minimum depth: 819.996211 meters looking forward 200.000000 meters along route # Maximum depth: 826.746579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.996211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801344; longitude = -118.648736; captureRadius = 10; duration = 113; initialDepth = 749.996211; finalDepth = 749.996211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.801235 # Altitude Set: 70.801235 # Vehicle Depth:749.996211 # Seafloor Depth:-820.797446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 169.92; MB_Bottom_Detect_Filter_Min_Depth = 35.40; MB_Bottom_Detect_Filter_Max_Depth = 169.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 108.674047 meters # Minimum depth: 822.387919 meters looking forward 200.000000 meters along route # Maximum depth: 831.185538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 752.387919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802183; longitude = -118.648029; captureRadius = 10; duration = 108; initialDepth = 752.387919; finalDepth = 749.996211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.473897 # Altitude Set: 74.473897 # Vehicle Depth:752.387919 # Seafloor Depth:-826.861816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.74; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.313204 meters # Minimum depth: 827.832320 meters looking forward 200.000000 meters along route # Maximum depth: 836.396787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.832320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802984; longitude = -118.647353; captureRadius = 10; duration = 102; initialDepth = 757.832320; finalDepth = 752.387919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.473897 # Altitude Set: 74.473897 # Vehicle Depth:757.83232 # Seafloor Depth:-832.002342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.74; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.585981 meters # Minimum depth: 832.490628 meters looking forward 200.000000 meters along route # Maximum depth: 839.043945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.490628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.646717; captureRadius = 10; duration = 101; initialDepth = 762.490628; finalDepth = 757.832320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.454355 # Altitude Set: 74.454355 # Vehicle Depth:762.490628 # Seafloor Depth:-836.944983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.23; MB_Bottom_Detect_Filter_Max_Range = 178.69; MB_Bottom_Detect_Filter_Min_Depth = 37.23; MB_Bottom_Detect_Filter_Max_Depth = 178.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 88.810711 meters # Minimum depth: 836.944983 meters looking forward 200.000000 meters along route # Maximum depth: 839.552715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.944983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804487; longitude = -118.646085; captureRadius = 10; duration = 88; initialDepth = 766.944983; finalDepth = 762.490628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.454355 # Altitude Set: 74.454355 # Vehicle Depth:766.944983 # Seafloor Depth:-839.361145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.23; MB_Bottom_Detect_Filter_Max_Range = 178.69; MB_Bottom_Detect_Filter_Min_Depth = 37.23; MB_Bottom_Detect_Filter_Max_Depth = 178.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 111.189289 meters # Minimum depth: 839.062539 meters looking forward 200.000000 meters along route # Maximum depth: 840.703208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.062539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804948; longitude = -118.646870; captureRadius = 10; duration = 111; initialDepth = 769.062539; finalDepth = 766.944983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.416162 # Altitude Set: 72.416162 # Vehicle Depth:769.062539 # Seafloor Depth:-839.581860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 173.80; MB_Bottom_Detect_Filter_Min_Depth = 36.21; MB_Bottom_Detect_Filter_Max_Depth = 173.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 86.585827 meters # Minimum depth: 838.954476 meters looking forward 200.000000 meters along route # Maximum depth: 840.917358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.954476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805525; longitude = -118.647852; captureRadius = 10; duration = 86; initialDepth = 768.954476; finalDepth = 769.062539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.962882 # Altitude Set: 71.962882 # Vehicle Depth:768.954476 # Seafloor Depth:-840.917358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 172.71; MB_Bottom_Detect_Filter_Min_Depth = 35.98; MB_Bottom_Detect_Filter_Max_Depth = 172.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.219375 meters # Minimum depth: 834.961477 meters looking forward 200.000000 meters along route # Maximum depth: 840.917358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.961477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804887; longitude = -118.648390; captureRadius = 10; duration = 111; initialDepth = 764.961477; finalDepth = 768.954476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.820767 # Altitude Set: 73.820767 # Vehicle Depth:764.961477 # Seafloor Depth:-838.782244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.91; MB_Bottom_Detect_Filter_Max_Range = 177.17; MB_Bottom_Detect_Filter_Min_Depth = 36.91; MB_Bottom_Detect_Filter_Max_Depth = 177.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 114.888508 meters # Minimum depth: 829.622959 meters looking forward 200.000000 meters along route # Maximum depth: 838.007614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.622959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804067; longitude = -118.649082; captureRadius = 10; duration = 114; initialDepth = 759.622959; finalDepth = 764.961477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.257264 # Altitude Set: 75.257264 # Vehicle Depth:759.622959 # Seafloor Depth:-834.880223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 180.62; MB_Bottom_Detect_Filter_Min_Depth = 37.63; MB_Bottom_Detect_Filter_Max_Depth = 180.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 117.214354 meters # Minimum depth: 823.130727 meters looking forward 200.000000 meters along route # Maximum depth: 832.989571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.130727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.649796; captureRadius = 10; duration = 117; initialDepth = 753.130727; finalDepth = 759.622959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.221906 # Altitude Set: 76.221906 # Vehicle Depth:753.130727 # Seafloor Depth:-829.352633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 182.93; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.557480 meters # Minimum depth: 820.502894 meters looking forward 200.000000 meters along route # Maximum depth: 827.435742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.502894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.650524; captureRadius = 10; duration = 101; initialDepth = 750.502894; finalDepth = 753.130727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.221906 # Altitude Set: 76.221906 # Vehicle Depth:750.502894 # Seafloor Depth:-822.827819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 182.93; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.220851 meters # Minimum depth: 820.009198 meters looking forward 200.000000 meters along route # Maximum depth: 824.610309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.009198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801607; longitude = -118.651156; captureRadius = 10; duration = 111; initialDepth = 750.009198; finalDepth = 750.502894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.324925 # Altitude Set: 72.324925 # Vehicle Depth:750.009198 # Seafloor Depth:-820.415971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.16; MB_Bottom_Detect_Filter_Max_Range = 173.58; MB_Bottom_Detect_Filter_Min_Depth = 36.16; MB_Bottom_Detect_Filter_Max_Depth = 173.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 115.424038 meters # Minimum depth: 820.009198 meters looking forward 200.000000 meters along route # Maximum depth: 836.167902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.009198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800787; longitude = -118.651847; captureRadius = 10; duration = 115; initialDepth = 750.009198; finalDepth = 750.009198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.788982 # Altitude Set: 74.788982 # Vehicle Depth:750.009198 # Seafloor Depth:-824.798180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 179.49; MB_Bottom_Detect_Filter_Min_Depth = 37.39; MB_Bottom_Detect_Filter_Max_Depth = 179.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 117.215911 meters # Minimum depth: 829.302491 meters looking forward 200.000000 meters along route # Maximum depth: 846.764479 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.302491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.652565; captureRadius = 10; duration = 117; initialDepth = 759.302491; finalDepth = 750.009198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.326687 # Altitude Set: 77.326687 # Vehicle Depth:759.302491 # Seafloor Depth:-836.629178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.66; MB_Bottom_Detect_Filter_Max_Range = 185.58; MB_Bottom_Detect_Filter_Min_Depth = 38.66; MB_Bottom_Detect_Filter_Max_Depth = 185.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.024820 meters # Minimum depth: 839.089548 meters looking forward 200.000000 meters along route # Maximum depth: 852.014226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.089548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.653293; captureRadius = 10; duration = 101; initialDepth = 769.089548; finalDepth = 759.302491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.4423899999999 # Altitude Set: 78.4423899999999 # Vehicle Depth:769.089548 # Seafloor Depth:-847.531938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 188.26; MB_Bottom_Detect_Filter_Min_Depth = 39.22; MB_Bottom_Detect_Filter_Max_Depth = 188.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.222328 meters # Minimum depth: 848.724231 meters looking forward 200.000000 meters along route # Maximum depth: 855.709850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.724231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798326; longitude = -118.653921; captureRadius = 10; duration = 111; initialDepth = 778.724231; finalDepth = 769.089548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.4423899999999 # Altitude Set: 78.4423899999999 # Vehicle Depth:778.724231 # Seafloor Depth:-852.348031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 188.26; MB_Bottom_Detect_Filter_Min_Depth = 39.22; MB_Bottom_Detect_Filter_Max_Depth = 188.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.034866 meters # Minimum depth: 853.368285 meters looking forward 200.000000 meters along route # Maximum depth: 858.478291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.368285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797506; longitude = -118.654613; captureRadius = 10; duration = 108; initialDepth = 783.368285; finalDepth = 778.724231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.6238 # Altitude Set: 73.6238 # Vehicle Depth:783.368285 # Seafloor Depth:-855.757057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.81; MB_Bottom_Detect_Filter_Max_Range = 176.70; MB_Bottom_Detect_Filter_Min_Depth = 36.81; MB_Bottom_Detect_Filter_Max_Depth = 176.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 88.665138 meters # Minimum depth: 855.709850 meters looking forward 200.000000 meters along route # Maximum depth: 859.932825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.709850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796710; longitude = -118.655284; captureRadius = 10; duration = 88; initialDepth = 785.709850; finalDepth = 783.368285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.893086 # Altitude Set: 72.893086 # Vehicle Depth:785.70985 # Seafloor Depth:-858.602936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 174.94; MB_Bottom_Detect_Filter_Min_Depth = 36.45; MB_Bottom_Detect_Filter_Max_Depth = 174.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 111.334862 meters # Minimum depth: 858.602936 meters looking forward 200.000000 meters along route # Maximum depth: 860.937978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.602936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797170; longitude = -118.656067; captureRadius = 10; duration = 111; initialDepth = 788.602936; finalDepth = 785.709850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.893086 # Altitude Set: 72.893086 # Vehicle Depth:788.602936 # Seafloor Depth:-859.986624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 174.94; MB_Bottom_Detect_Filter_Min_Depth = 36.45; MB_Bottom_Detect_Filter_Max_Depth = 174.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 86.317895 meters # Minimum depth: 858.409358 meters looking forward 200.000000 meters along route # Maximum depth: 861.080948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.409358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797748; longitude = -118.657051; captureRadius = 10; duration = 86; initialDepth = 788.409358; finalDepth = 788.602936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.67159 # Altitude Set: 72.67159 # Vehicle Depth:788.409358 # Seafloor Depth:-861.080948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 174.41; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 116.638839 meters # Minimum depth: 855.033302 meters looking forward 200.000000 meters along route # Maximum depth: 860.564029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.033302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798384; longitude = -118.656514; captureRadius = 10; duration = 116; initialDepth = 785.033302; finalDepth = 788.409358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.359383 # Altitude Set: 73.359383 # Vehicle Depth:785.033302 # Seafloor Depth:-858.392685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 176.06; MB_Bottom_Detect_Filter_Min_Depth = 36.68; MB_Bottom_Detect_Filter_Max_Depth = 176.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.808603 meters # Minimum depth: 851.422087 meters looking forward 200.000000 meters along route # Maximum depth: 857.664390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.422087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.655789; captureRadius = 10; duration = 105; initialDepth = 781.422087; finalDepth = 785.033302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.406035 # Altitude Set: 73.406035 # Vehicle Depth:781.422087 # Seafloor Depth:-854.828122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.70; MB_Bottom_Detect_Filter_Max_Range = 176.17; MB_Bottom_Detect_Filter_Min_Depth = 36.70; MB_Bottom_Detect_Filter_Max_Depth = 176.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 111.223167 meters # Minimum depth: 842.640167 meters looking forward 200.000000 meters along route # Maximum depth: 853.988265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.640167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800024; longitude = -118.655131; captureRadius = 10; duration = 111; initialDepth = 772.640167; finalDepth = 781.422087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.060791 # Altitude Set: 78.060791 # Vehicle Depth:772.640167 # Seafloor Depth:-850.700958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.03; MB_Bottom_Detect_Filter_Max_Range = 187.35; MB_Bottom_Detect_Filter_Min_Depth = 39.03; MB_Bottom_Detect_Filter_Max_Depth = 187.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 111.222799 meters # Minimum depth: 830.499260 meters looking forward 200.000000 meters along route # Maximum depth: 849.087739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.499260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800844; longitude = -118.654440; captureRadius = 10; duration = 111; initialDepth = 760.499260; finalDepth = 772.640167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.5898619999999 # Altitude Set: 81.5898619999999 # Vehicle Depth:760.49926 # Seafloor Depth:-842.089122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.79; MB_Bottom_Detect_Filter_Max_Range = 195.82; MB_Bottom_Detect_Filter_Min_Depth = 40.79; MB_Bottom_Detect_Filter_Max_Depth = 195.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 117.160101 meters # Minimum depth: 823.801271 meters looking forward 200.000000 meters along route # Maximum depth: 837.927185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.801271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801664; longitude = -118.653749; captureRadius = 10; duration = 117; initialDepth = 753.801271; finalDepth = 760.499260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.5898619999999 # Altitude Set: 81.5898619999999 # Vehicle Depth:753.801271 # Seafloor Depth:-830.493234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.79; MB_Bottom_Detect_Filter_Max_Range = 195.82; MB_Bottom_Detect_Filter_Min_Depth = 40.79; MB_Bottom_Detect_Filter_Max_Depth = 195.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.284388 meters # Minimum depth: 823.616231 meters looking forward 200.000000 meters along route # Maximum depth: 827.805407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.616231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.653020; captureRadius = 10; duration = 105; initialDepth = 753.616231; finalDepth = 753.801271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.691963 # Altitude Set: 76.691963 # Vehicle Depth:753.616231 # Seafloor Depth:-823.819396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.35; MB_Bottom_Detect_Filter_Max_Range = 184.06; MB_Bottom_Detect_Filter_Min_Depth = 38.35; MB_Bottom_Detect_Filter_Max_Depth = 184.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 111.221691 meters # Minimum depth: 823.616231 meters looking forward 200.000000 meters along route # Maximum depth: 830.787921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.616231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803305; longitude = -118.652366; captureRadius = 10; duration = 111; initialDepth = 753.616231; finalDepth = 753.616231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8085070000001 # Altitude Set: 71.8085070000001 # Vehicle Depth:753.616231 # Seafloor Depth:-825.424738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.90; MB_Bottom_Detect_Filter_Max_Range = 172.34; MB_Bottom_Detect_Filter_Min_Depth = 35.90; MB_Bottom_Detect_Filter_Max_Depth = 172.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 111.690417 meters # Minimum depth: 826.941393 meters looking forward 200.000000 meters along route # Maximum depth: 836.319826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.941393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804125; longitude = -118.651674; captureRadius = 10; duration = 111; initialDepth = 756.941393; finalDepth = 753.616231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1292970000001 # Altitude Set: 74.1292970000001 # Vehicle Depth:756.941393 # Seafloor Depth:-831.070690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 177.91; MB_Bottom_Detect_Filter_Min_Depth = 37.06; MB_Bottom_Detect_Filter_Max_Depth = 177.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 117.212255 meters # Minimum depth: 833.079843 meters looking forward 200.000000 meters along route # Maximum depth: 841.283341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.079843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804948; longitude = -118.650980; captureRadius = 10; duration = 117; initialDepth = 763.079843; finalDepth = 756.941393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1292970000001 # Altitude Set: 74.1292970000001 # Vehicle Depth:763.079843 # Seafloor Depth:-836.348640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 177.91; MB_Bottom_Detect_Filter_Min_Depth = 37.06; MB_Bottom_Detect_Filter_Max_Depth = 177.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.828203 meters # Minimum depth: 837.964963 meters looking forward 200.000000 meters along route # Maximum depth: 843.554065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.964963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805812; longitude = -118.650251; captureRadius = 10; duration = 101; initialDepth = 767.964963; finalDepth = 763.079843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5156969999999 # Altitude Set: 73.5156969999999 # Vehicle Depth:767.964963 # Seafloor Depth:-841.480660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 176.44; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 95.786271 meters # Minimum depth: 841.480660 meters looking forward 200.000000 meters along route # Maximum depth: 844.580903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.480660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806563; longitude = -118.649618; captureRadius = 10; duration = 95; initialDepth = 771.480660; finalDepth = 767.964963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5156969999999 # Altitude Set: 73.5156969999999 # Vehicle Depth:771.48066 # Seafloor Depth:-843.831207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 176.44; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.213729 meters # Minimum depth: 843.831207 meters looking forward 200.000000 meters along route # Maximum depth: 846.081214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.831207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807060; longitude = -118.650464; captureRadius = 10; duration = 104; initialDepth = 773.831207; finalDepth = 771.480660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.350547 # Altitude Set: 72.350547 # Vehicle Depth:773.831207 # Seafloor Depth:-844.689720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 173.64; MB_Bottom_Detect_Filter_Min_Depth = 36.18; MB_Bottom_Detect_Filter_Max_Depth = 173.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 78.501736 meters # Minimum depth: 844.580903 meters looking forward 200.000000 meters along route # Maximum depth: 846.327255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.580903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807601; longitude = -118.651385; captureRadius = 10; duration = 78; initialDepth = 774.580903; finalDepth = 773.831207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.746352 # Altitude Set: 71.746352 # Vehicle Depth:774.580903 # Seafloor Depth:-846.327255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 172.19; MB_Bottom_Detect_Filter_Min_Depth = 35.87; MB_Bottom_Detect_Filter_Max_Depth = 172.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 117.210814 meters # Minimum depth: 841.322305 meters looking forward 200.000000 meters along route # Maximum depth: 846.327255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.322305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807022; longitude = -118.651873; captureRadius = 10; duration = 117; initialDepth = 771.322305; finalDepth = 774.580903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.488832 # Altitude Set: 73.488832 # Vehicle Depth:771.322305 # Seafloor Depth:-844.811137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 176.37; MB_Bottom_Detect_Filter_Min_Depth = 36.74; MB_Bottom_Detect_Filter_Max_Depth = 176.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.106580 meters # Minimum depth: 836.697679 meters looking forward 200.000000 meters along route # Maximum depth: 844.057320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.697679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.652601; captureRadius = 10; duration = 101; initialDepth = 766.697679; finalDepth = 771.322305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.296154 # Altitude Set: 74.296154 # Vehicle Depth:766.697679 # Seafloor Depth:-840.993833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.15; MB_Bottom_Detect_Filter_Max_Range = 178.31; MB_Bottom_Detect_Filter_Min_Depth = 37.15; MB_Bottom_Detect_Filter_Max_Depth = 178.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.223085 meters # Minimum depth: 829.761217 meters looking forward 200.000000 meters along route # Maximum depth: 840.388871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.761217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805413; longitude = -118.653230; captureRadius = 10; duration = 111; initialDepth = 759.761217; finalDepth = 766.697679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.634336 # Altitude Set: 76.634336 # Vehicle Depth:759.761217 # Seafloor Depth:-836.395553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.92; 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 = 183.92; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 183.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 115.862793 meters # Minimum depth: 825.318516 meters looking forward 200.000000 meters along route # Maximum depth: 835.156475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 755.318516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804593; longitude = -118.653921; captureRadius = 10; duration = 115; initialDepth = 755.318516; finalDepth = 759.761217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.634336 # Altitude Set: 76.634336 # Vehicle Depth:755.318516 # Seafloor Depth:-829.666561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.92; 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 = 183.92; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 183.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 117.212371 meters # Minimum depth: 824.606539 meters looking forward 200.000000 meters along route # Maximum depth: 828.964755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.606539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.654642; captureRadius = 10; duration = 117; initialDepth = 754.606539; finalDepth = 755.318516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.348045 # Altitude Set: 74.348045 # Vehicle Depth:754.606539 # Seafloor Depth:-825.235671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 178.44; MB_Bottom_Detect_Filter_Min_Depth = 37.17; MB_Bottom_Detect_Filter_Max_Depth = 178.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.596304 meters # Minimum depth: 824.606539 meters looking forward 200.000000 meters along route # Maximum depth: 845.075673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.606539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.655370; captureRadius = 10; duration = 100; initialDepth = 754.606539; finalDepth = 754.606539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.242436 # Altitude Set: 76.242436 # Vehicle Depth:754.606539 # Seafloor Depth:-830.848975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 182.98; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 182.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.224560 meters # Minimum depth: 834.220979 meters looking forward 200.000000 meters along route # Maximum depth: 852.023531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.220979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802132; longitude = -118.655996; captureRadius = 10; duration = 111; initialDepth = 764.220979; finalDepth = 754.606539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.4611369999999 # Altitude Set: 81.4611369999999 # Vehicle Depth:764.220979 # Seafloor Depth:-845.682116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 195.51; MB_Bottom_Detect_Filter_Min_Depth = 40.73; MB_Bottom_Detect_Filter_Max_Depth = 195.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 116.375955 meters # Minimum depth: 847.862054 meters looking forward 200.000000 meters along route # Maximum depth: 855.221974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.862054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801312; longitude = -118.656687; captureRadius = 10; duration = 116; initialDepth = 777.862054; finalDepth = 764.220979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.4611369999999 # Altitude Set: 81.4611369999999 # Vehicle Depth:777.862054 # Seafloor Depth:-852.055343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 195.51; MB_Bottom_Detect_Filter_Min_Depth = 40.73; MB_Bottom_Detect_Filter_Max_Depth = 195.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 117.213929 meters # Minimum depth: 853.607620 meters looking forward 200.000000 meters along route # Maximum depth: 859.530861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.607620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800454; longitude = -118.657410; captureRadius = 10; duration = 117; initialDepth = 783.607620; finalDepth = 777.862054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.193289 # Altitude Set: 74.193289 # Vehicle Depth:783.60762 # Seafloor Depth:-855.368112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 178.06; MB_Bottom_Detect_Filter_Min_Depth = 37.10; MB_Bottom_Detect_Filter_Max_Depth = 178.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.080231 meters # Minimum depth: 857.172462 meters looking forward 200.000000 meters along route # Maximum depth: 862.828736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.172462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799590; longitude = -118.658139; captureRadius = 10; duration = 109; initialDepth = 787.172462; finalDepth = 783.607620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.726717 # Altitude Set: 72.726717 # Vehicle Depth:787.172462 # Seafloor Depth:-859.899179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.36; MB_Bottom_Detect_Filter_Max_Range = 174.54; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 91.522860 meters # Minimum depth: 860.435401 meters looking forward 200.000000 meters along route # Maximum depth: 863.580060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.435401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798785; longitude = -118.658817; captureRadius = 10; duration = 91; initialDepth = 790.435401; finalDepth = 787.172462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.766702 # Altitude Set: 72.766702 # Vehicle Depth:790.435401 # Seafloor Depth:-863.202103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.38; MB_Bottom_Detect_Filter_Max_Range = 174.64; MB_Bottom_Detect_Filter_Min_Depth = 36.38; MB_Bottom_Detect_Filter_Max_Depth = 174.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.477140 meters # Minimum depth: 863.202103 meters looking forward 200.000000 meters along route # Maximum depth: 864.796322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.202103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799260; longitude = -118.659626; captureRadius = 10; duration = 108; initialDepth = 793.202103; finalDepth = 790.435401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.766702 # Altitude Set: 72.766702 # Vehicle Depth:793.202103 # Seafloor Depth:-863.627794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.38; MB_Bottom_Detect_Filter_Max_Range = 174.64; MB_Bottom_Detect_Filter_Min_Depth = 36.38; MB_Bottom_Detect_Filter_Max_Depth = 174.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 108.979623 meters # Minimum depth: 861.641400 meters looking forward 200.000000 meters along route # Maximum depth: 864.841873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.641400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799823; longitude = -118.660584; captureRadius = 10; duration = 108; initialDepth = 791.641400; finalDepth = 793.202103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.200473 # Altitude Set: 73.200473 # Vehicle Depth:791.6414 # Seafloor Depth:-864.841873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 175.68; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.763304 meters # Minimum depth: 857.668691 meters looking forward 200.000000 meters along route # Maximum depth: 864.459156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.668691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800627; longitude = -118.659906; captureRadius = 10; duration = 100; initialDepth = 787.668691; finalDepth = 791.641400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.592266 # Altitude Set: 73.592266 # Vehicle Depth:787.668691 # Seafloor Depth:-861.260957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.80; MB_Bottom_Detect_Filter_Max_Range = 176.62; MB_Bottom_Detect_Filter_Min_Depth = 36.80; MB_Bottom_Detect_Filter_Max_Depth = 176.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 111.226508 meters # Minimum depth: 853.139671 meters looking forward 200.000000 meters along route # Maximum depth: 860.575562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.139671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801370; longitude = -118.659280; captureRadius = 10; duration = 111; initialDepth = 783.139671; finalDepth = 787.668691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.193571 # Altitude Set: 74.193571 # Vehicle Depth:783.139671 # Seafloor Depth:-857.333242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 178.06; MB_Bottom_Detect_Filter_Min_Depth = 37.10; MB_Bottom_Detect_Filter_Max_Depth = 178.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 116.204347 meters # Minimum depth: 848.950610 meters looking forward 200.000000 meters along route # Maximum depth: 856.078510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.950610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802190; longitude = -118.658588; captureRadius = 10; duration = 116; initialDepth = 778.950610; finalDepth = 783.139671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.193571 # Altitude Set: 74.193571 # Vehicle Depth:778.95061 # Seafloor Depth:-853.098688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 178.06; MB_Bottom_Detect_Filter_Min_Depth = 37.10; MB_Bottom_Detect_Filter_Max_Depth = 178.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 117.211421 meters # Minimum depth: 843.324631 meters looking forward 200.000000 meters along route # Maximum depth: 851.486309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.324631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803047; longitude = -118.657866; captureRadius = 10; duration = 117; initialDepth = 773.324631; finalDepth = 778.950610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.411871 # Altitude Set: 75.411871 # Vehicle Depth:773.324631 # Seafloor Depth:-848.736502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.99; 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 = 180.99; MB_Bottom_Detect_Filter_Min_Depth = 37.71; MB_Bottom_Detect_Filter_Max_Depth = 180.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.261543 meters # Minimum depth: 831.719237 meters looking forward 200.000000 meters along route # Maximum depth: 847.986421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.719237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.657137; captureRadius = 10; duration = 100; initialDepth = 761.719237; finalDepth = 773.324631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.631005 # Altitude Set: 80.631005 # Vehicle Depth:761.719237 # Seafloor Depth:-842.350242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.32; MB_Bottom_Detect_Filter_Max_Range = 193.51; MB_Bottom_Detect_Filter_Min_Depth = 40.32; MB_Bottom_Detect_Filter_Max_Depth = 193.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 111.225031 meters # Minimum depth: 830.519096 meters looking forward 200.000000 meters along route # Maximum depth: 840.606294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.519096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804650; longitude = -118.656514; captureRadius = 10; duration = 111; initialDepth = 760.519096; finalDepth = 761.719237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.631005 # Altitude Set: 80.631005 # Vehicle Depth:760.519096 # Seafloor Depth:-831.378467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.32; MB_Bottom_Detect_Filter_Max_Range = 193.51; MB_Bottom_Detect_Filter_Min_Depth = 40.32; MB_Bottom_Detect_Filter_Max_Depth = 193.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 116.703224 meters # Minimum depth: 830.519096 meters looking forward 200.000000 meters along route # Maximum depth: 837.421892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.519096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805470; longitude = -118.655823; captureRadius = 10; duration = 116; initialDepth = 760.519096; finalDepth = 760.519096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.0122690000001 # Altitude Set: 72.0122690000001 # Vehicle Depth:760.519096 # Seafloor Depth:-832.531365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 172.83; MB_Bottom_Detect_Filter_Min_Depth = 36.01; MB_Bottom_Detect_Filter_Max_Depth = 172.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.745733 meters # Minimum depth: 833.910762 meters looking forward 200.000000 meters along route # Maximum depth: 842.662582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.910762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.655097; captureRadius = 10; duration = 105; initialDepth = 763.910762; finalDepth = 760.519096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.743702 # Altitude Set: 73.743702 # Vehicle Depth:763.910762 # Seafloor Depth:-837.654464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 176.98; MB_Bottom_Detect_Filter_Min_Depth = 36.87; MB_Bottom_Detect_Filter_Max_Depth = 176.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.231725 meters # Minimum depth: 838.846341 meters looking forward 200.000000 meters along route # Maximum depth: 846.687894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.846341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807111; longitude = -118.654440; captureRadius = 10; duration = 105; initialDepth = 768.846341; finalDepth = 763.910762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.485784 # Altitude Set: 74.485784 # Vehicle Depth:768.846341 # Seafloor Depth:-843.332125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.77; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.055899 meters # Minimum depth: 843.965178 meters looking forward 200.000000 meters along route # Maximum depth: 849.713510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.965178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807887; longitude = -118.653786; captureRadius = 10; duration = 102; initialDepth = 773.965178; finalDepth = 768.846341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.485784 # Altitude Set: 74.485784 # Vehicle Depth:773.965178 # Seafloor Depth:-847.248863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.77; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 88.145485 meters # Minimum depth: 847.248863 meters looking forward 200.000000 meters along route # Maximum depth: 851.437769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.248863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808639; longitude = -118.653151; captureRadius = 10; duration = 88; initialDepth = 777.248863; finalDepth = 773.965178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.283685 # Altitude Set: 73.283685 # Vehicle Depth:777.248863 # Seafloor Depth:-849.984512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 175.88; MB_Bottom_Detect_Filter_Min_Depth = 36.64; MB_Bottom_Detect_Filter_Max_Depth = 175.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.854515 meters # Minimum depth: 849.984512 meters looking forward 200.000000 meters along route # Maximum depth: 853.007901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.984512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809097; longitude = -118.653930; captureRadius = 10; duration = 111; initialDepth = 779.984512; finalDepth = 777.248863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.735649 # Altitude Set: 72.735649 # Vehicle Depth:779.984512 # Seafloor Depth:-851.469052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 174.57; MB_Bottom_Detect_Filter_Min_Depth = 36.37; MB_Bottom_Detect_Filter_Max_Depth = 174.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 89.940835 meters # Minimum depth: 852.010366 meters looking forward 200.000000 meters along route # Maximum depth: 853.102083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.010366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809677; longitude = -118.654918; captureRadius = 10; duration = 89; initialDepth = 782.010366; finalDepth = 779.984512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.48454 # Altitude Set: 71.48454 # Vehicle Depth:782.010366 # Seafloor Depth:-853.085556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 171.56; MB_Bottom_Detect_Filter_Min_Depth = 35.74; MB_Bottom_Detect_Filter_Max_Depth = 171.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.225411 meters # Minimum depth: 847.234407 meters looking forward 200.000000 meters along route # Maximum depth: 853.102083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.234407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809014; longitude = -118.655477; captureRadius = 10; duration = 111; initialDepth = 777.234407; finalDepth = 782.010366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.914487 # Altitude Set: 74.914487 # Vehicle Depth:777.234407 # Seafloor Depth:-852.148894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 179.79; MB_Bottom_Detect_Filter_Min_Depth = 37.46; MB_Bottom_Detect_Filter_Max_Depth = 179.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.973063 meters # Minimum depth: 840.586370 meters looking forward 200.000000 meters along route # Maximum depth: 851.055362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.586370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808194; longitude = -118.656169; captureRadius = 10; duration = 111; initialDepth = 770.586370; finalDepth = 777.234407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.384954 # Altitude Set: 76.384954 # Vehicle Depth:770.58637 # Seafloor Depth:-846.971324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.32; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.19; MB_Bottom_Detect_Filter_Max_Range = 183.32; MB_Bottom_Detect_Filter_Min_Depth = 38.19; MB_Bottom_Detect_Filter_Max_Depth = 183.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 117.208913 meters # Minimum depth: 836.071380 meters looking forward 200.000000 meters along route # Maximum depth: 844.820045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.071380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807368; longitude = -118.656865; captureRadius = 10; duration = 117; initialDepth = 766.071380; finalDepth = 770.586370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.384954 # Altitude Set: 76.384954 # Vehicle Depth:766.07138 # Seafloor Depth:-840.542738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.32; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.19; MB_Bottom_Detect_Filter_Max_Range = 183.32; MB_Bottom_Detect_Filter_Min_Depth = 38.19; MB_Bottom_Detect_Filter_Max_Depth = 183.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.496471 meters # Minimum depth: 836.029542 meters looking forward 200.000000 meters along route # Maximum depth: 840.409721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.029542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806504; longitude = -118.657593; captureRadius = 10; duration = 104; initialDepth = 766.029542; finalDepth = 766.071380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.471358 # Altitude Set: 74.471358 # Vehicle Depth:766.029542 # Seafloor Depth:-836.029542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.73; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.226888 meters # Minimum depth: 836.232057 meters looking forward 200.000000 meters along route # Maximum depth: 844.738658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.232057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805733; longitude = -118.658243; captureRadius = 10; duration = 111; initialDepth = 766.232057; finalDepth = 766.029542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.9150079999999 # Altitude Set: 74.9150079999999 # Vehicle Depth:766.232057 # Seafloor Depth:-841.147065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 179.80; MB_Bottom_Detect_Filter_Min_Depth = 37.46; MB_Bottom_Detect_Filter_Max_Depth = 179.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 112.463779 meters # Minimum depth: 842.370783 meters looking forward 200.000000 meters along route # Maximum depth: 849.758084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.370783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804913; longitude = -118.658934; captureRadius = 10; duration = 112; initialDepth = 772.370783; finalDepth = 766.232057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.9150079999999 # Altitude Set: 74.9150079999999 # Vehicle Depth:772.370783 # Seafloor Depth:-844.956652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 179.80; MB_Bottom_Detect_Filter_Min_Depth = 37.46; MB_Bottom_Detect_Filter_Max_Depth = 179.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 117.210470 meters # Minimum depth: 846.910178 meters looking forward 200.000000 meters along route # Maximum depth: 854.179904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.910178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804084; longitude = -118.659633; captureRadius = 10; duration = 117; initialDepth = 776.910178; finalDepth = 772.370783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.89885 # Altitude Set: 72.89885 # Vehicle Depth:776.910178 # Seafloor Depth:-849.809028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 174.96; MB_Bottom_Detect_Filter_Min_Depth = 36.45; MB_Bottom_Detect_Filter_Max_Depth = 174.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.008628 meters # Minimum depth: 850.682518 meters looking forward 200.000000 meters along route # Maximum depth: 858.197916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.682518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803220; longitude = -118.660362; captureRadius = 10; duration = 104; initialDepth = 780.682518; finalDepth = 776.910178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7185930000001 # Altitude Set: 73.7185930000001 # Vehicle Depth:780.682518 # Seafloor Depth:-854.401111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.92; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.228364 meters # Minimum depth: 855.113727 meters looking forward 200.000000 meters along route # Maximum depth: 862.521924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.113727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802453; longitude = -118.661008; captureRadius = 10; duration = 111; initialDepth = 785.113727; finalDepth = 780.682518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7185930000001 # Altitude Set: 73.7185930000001 # Vehicle Depth:785.113727 # Seafloor Depth:-858.515812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.92; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.625536 meters # Minimum depth: 859.378706 meters looking forward 200.000000 meters along route # Maximum depth: 865.596649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.378706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801633; longitude = -118.661700; captureRadius = 10; duration = 104; initialDepth = 789.378706; finalDepth = 785.113727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4020849999999 # Altitude Set: 73.4020849999999 # Vehicle Depth:789.378706 # Seafloor Depth:-862.680037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.70; MB_Bottom_Detect_Filter_Max_Range = 176.17; MB_Bottom_Detect_Filter_Min_Depth = 36.70; MB_Bottom_Detect_Filter_Max_Depth = 176.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 88.099314 meters # Minimum depth: 862.521924 meters looking forward 200.000000 meters along route # Maximum depth: 866.715575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.521924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800861; longitude = -118.662350; captureRadius = 10; duration = 88; initialDepth = 792.521924; finalDepth = 789.378706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.36333 # Altitude Set: 73.36333 # Vehicle Depth:792.521924 # Seafloor Depth:-865.885254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 176.07; MB_Bottom_Detect_Filter_Min_Depth = 36.68; MB_Bottom_Detect_Filter_Max_Depth = 176.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.900686 meters # Minimum depth: 865.885254 meters looking forward 200.000000 meters along route # Maximum depth: 867.966830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.885254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.663128; captureRadius = 10; duration = 111; initialDepth = 795.885254; finalDepth = 792.521924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.36333 # Altitude Set: 73.36333 # Vehicle Depth:795.885254 # Seafloor Depth:-866.766059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 176.07; MB_Bottom_Detect_Filter_Min_Depth = 36.68; MB_Bottom_Detect_Filter_Max_Depth = 176.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 85.347283 meters # Minimum depth: 865.544117 meters looking forward 200.000000 meters along route # Maximum depth: 867.966830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.544117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801899; longitude = -118.664117; captureRadius = 10; duration = 85; initialDepth = 795.544117; finalDepth = 795.885254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.213314 # Altitude Set: 72.213314 # Vehicle Depth:795.544117 # Seafloor Depth:-867.757431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 173.31; MB_Bottom_Detect_Filter_Min_Depth = 36.11; MB_Bottom_Detect_Filter_Max_Depth = 173.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 117.209931 meters # Minimum depth: 861.132947 meters looking forward 200.000000 meters along route # Maximum depth: 867.552223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.132947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.663586; captureRadius = 10; duration = 117; initialDepth = 791.132947; finalDepth = 795.544117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.3209690000001 # Altitude Set: 74.3209690000001 # Vehicle Depth:791.132947 # Seafloor Depth:-865.453916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 178.37; MB_Bottom_Detect_Filter_Min_Depth = 37.16; MB_Bottom_Detect_Filter_Max_Depth = 178.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.836745 meters # Minimum depth: 857.413129 meters looking forward 200.000000 meters along route # Maximum depth: 864.560538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.413129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.662858; captureRadius = 10; duration = 102; initialDepth = 787.413129; finalDepth = 791.132947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.3209690000001 # Altitude Set: 74.3209690000001 # Vehicle Depth:787.413129 # Seafloor Depth:-860.871800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 178.37; MB_Bottom_Detect_Filter_Min_Depth = 37.16; MB_Bottom_Detect_Filter_Max_Depth = 178.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.229204 meters # Minimum depth: 853.048169 meters looking forward 200.000000 meters along route # Maximum depth: 860.332156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.048169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804151; longitude = -118.662218; captureRadius = 10; duration = 111; initialDepth = 783.048169; finalDepth = 787.413129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.0606399999999 # Altitude Set: 74.0606399999999 # Vehicle Depth:783.048169 # Seafloor Depth:-857.108809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.03; MB_Bottom_Detect_Filter_Max_Range = 177.75; MB_Bottom_Detect_Filter_Min_Depth = 37.03; MB_Bottom_Detect_Filter_Max_Depth = 177.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 114.119677 meters # Minimum depth: 848.092355 meters looking forward 200.000000 meters along route # Maximum depth: 856.140505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.092355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804971; longitude = -118.661527; captureRadius = 10; duration = 114; initialDepth = 778.092355; finalDepth = 783.048169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.874766 # Altitude Set: 74.874766 # Vehicle Depth:778.092355 # Seafloor Depth:-852.967121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 179.70; MB_Bottom_Detect_Filter_Min_Depth = 37.44; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 117.208373 meters # Minimum depth: 842.884404 meters looking forward 200.000000 meters along route # Maximum depth: 851.443062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.884404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805812; longitude = -118.660818; captureRadius = 10; duration = 117; initialDepth = 772.884404; finalDepth = 778.092355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.04403 # Altitude Set: 75.04403 # Vehicle Depth:772.884404 # Seafloor Depth:-847.928434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.52; MB_Bottom_Detect_Filter_Max_Range = 180.11; MB_Bottom_Detect_Filter_Min_Depth = 37.52; MB_Bottom_Detect_Filter_Max_Depth = 180.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.357350 meters # Minimum depth: 839.926595 meters looking forward 200.000000 meters along route # Maximum depth: 846.773843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.926595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806677; longitude = -118.660089; captureRadius = 10; duration = 102; initialDepth = 769.926595; finalDepth = 772.884404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.04403 # Altitude Set: 75.04403 # Vehicle Depth:769.926595 # Seafloor Depth:-842.539858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.52; MB_Bottom_Detect_Filter_Max_Range = 180.11; MB_Bottom_Detect_Filter_Min_Depth = 37.52; MB_Bottom_Detect_Filter_Max_Depth = 180.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.227728 meters # Minimum depth: 839.041036 meters looking forward 200.000000 meters along route # Maximum depth: 841.901439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.041036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807431; longitude = -118.659453; captureRadius = 10; duration = 111; initialDepth = 769.041036; finalDepth = 769.926595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.613263 # Altitude Set: 72.613263 # Vehicle Depth:769.041036 # Seafloor Depth:-839.723816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.31; MB_Bottom_Detect_Filter_Max_Range = 174.27; MB_Bottom_Detect_Filter_Min_Depth = 36.31; MB_Bottom_Detect_Filter_Max_Depth = 174.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 114.596185 meters # Minimum depth: 839.041036 meters looking forward 200.000000 meters along route # Maximum depth: 848.111234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.041036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808252; longitude = -118.658761; captureRadius = 10; duration = 114; initialDepth = 769.041036; finalDepth = 769.041036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.7203930000001 # Altitude Set: 71.7203930000001 # Vehicle Depth:769.041036 # Seafloor Depth:-840.761429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 172.13; MB_Bottom_Detect_Filter_Min_Depth = 35.86; MB_Bottom_Detect_Filter_Max_Depth = 172.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 117.206816 meters # Minimum depth: 843.321893 meters looking forward 200.000000 meters along route # Maximum depth: 852.752294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.321893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809097; longitude = -118.658049; captureRadius = 10; duration = 117; initialDepth = 773.321893; finalDepth = 769.041036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.0251019999999 # Altitude Set: 75.0251019999999 # Vehicle Depth:773.321893 # Seafloor Depth:-848.346995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 180.06; MB_Bottom_Detect_Filter_Min_Depth = 37.51; MB_Bottom_Detect_Filter_Max_Depth = 180.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.269066 meters # Minimum depth: 849.991660 meters looking forward 200.000000 meters along route # Maximum depth: 853.638682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.991660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809961; longitude = -118.657320; captureRadius = 10; duration = 102; initialDepth = 779.991660; finalDepth = 773.321893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.0251019999999 # Altitude Set: 75.0251019999999 # Vehicle Depth:779.99166 # Seafloor Depth:-852.905657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 180.06; MB_Bottom_Detect_Filter_Min_Depth = 37.51; MB_Bottom_Detect_Filter_Max_Depth = 180.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 98.115765 meters # Minimum depth: 853.131564 meters looking forward 200.000000 meters along route # Maximum depth: 853.838483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.131564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810715; longitude = -118.656685; captureRadius = 10; duration = 98; initialDepth = 783.131564; finalDepth = 779.991660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.913997 # Altitude Set: 72.913997 # Vehicle Depth:783.131564 # Seafloor Depth:-853.644714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 174.99; MB_Bottom_Detect_Filter_Min_Depth = 36.46; MB_Bottom_Detect_Filter_Max_Depth = 174.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.884235 meters # Minimum depth: 853.643953 meters looking forward 200.000000 meters along route # Maximum depth: 854.228424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.643953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811224; longitude = -118.657551; captureRadius = 10; duration = 101; initialDepth = 783.643953; finalDepth = 783.131564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.51315 # Altitude Set: 70.51315 # Vehicle Depth:783.643953 # Seafloor Depth:-853.696356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 35.26; MB_Bottom_Detect_Filter_Max_Depth = 169.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 78.929159 meters # Minimum depth: 853.696356 meters looking forward 200.000000 meters along route # Maximum depth: 854.388245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.696356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811753; longitude = -118.658451; captureRadius = 10; duration = 78; initialDepth = 783.696356; finalDepth = 783.643953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.566477 # Altitude Set: 70.566477 # Vehicle Depth:783.696356 # Seafloor Depth:-854.262833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 169.36; MB_Bottom_Detect_Filter_Min_Depth = 35.28; MB_Bottom_Detect_Filter_Max_Depth = 169.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 117.205373 meters # Minimum depth: 852.577309 meters looking forward 200.000000 meters along route # Maximum depth: 854.388245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.577309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.658942; captureRadius = 10; duration = 117; initialDepth = 782.577309; finalDepth = 783.696356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.5545999999999 # Altitude Set: 71.5545999999999 # Vehicle Depth:782.577309 # Seafloor Depth:-854.131909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 171.73; MB_Bottom_Detect_Filter_Min_Depth = 35.78; MB_Bottom_Detect_Filter_Max_Depth = 171.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.996883 meters # Minimum depth: 847.892669 meters looking forward 200.000000 meters along route # Maximum depth: 853.820507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.892669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810307; longitude = -118.659670; captureRadius = 10; duration = 103; initialDepth = 777.892669; finalDepth = 782.577309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.3512900000001 # Altitude Set: 74.3512900000001 # Vehicle Depth:777.892669 # Seafloor Depth:-852.243959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 178.44; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.229123 meters # Minimum depth: 846.670778 meters looking forward 200.000000 meters along route # Maximum depth: 851.093846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.670778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809540; longitude = -118.660317; captureRadius = 10; duration = 111; initialDepth = 776.670778; finalDepth = 777.892669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.3512900000001 # Altitude Set: 74.3512900000001 # Vehicle Depth:776.670778 # Seafloor Depth:-847.495927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 178.44; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 112.951221 meters # Minimum depth: 846.670778 meters looking forward 200.000000 meters along route # Maximum depth: 850.314107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.670778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808720; longitude = -118.661008; captureRadius = 10; duration = 112; initialDepth = 776.670778; finalDepth = 776.670778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.139191 # Altitude Set: 72.139191 # Vehicle Depth:776.670778 # Seafloor Depth:-848.809969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 173.13; MB_Bottom_Detect_Filter_Min_Depth = 36.07; MB_Bottom_Detect_Filter_Max_Depth = 173.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 117.206931 meters # Minimum depth: 850.069991 meters looking forward 200.000000 meters along route # Maximum depth: 853.033595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.069991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807887; longitude = -118.661710; captureRadius = 10; duration = 117; initialDepth = 780.069991; finalDepth = 776.670778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.139191 # Altitude Set: 72.139191 # Vehicle Depth:780.069991 # Seafloor Depth:-850.295803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 173.13; MB_Bottom_Detect_Filter_Min_Depth = 36.07; MB_Bottom_Detect_Filter_Max_Depth = 173.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.531432 meters # Minimum depth: 850.883208 meters looking forward 200.000000 meters along route # Maximum depth: 855.356723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.883208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807022; longitude = -118.662439; captureRadius = 10; duration = 103; initialDepth = 780.883208; finalDepth = 780.069991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.3452 # Altitude Set: 72.3452 # Vehicle Depth:780.883208 # Seafloor Depth:-853.228408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 173.63; MB_Bottom_Detect_Filter_Min_Depth = 36.17; MB_Bottom_Detect_Filter_Max_Depth = 173.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.230600 meters # Minimum depth: 853.873950 meters looking forward 200.000000 meters along route # Maximum depth: 859.556929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.873950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806259; longitude = -118.663083; captureRadius = 10; duration = 111; initialDepth = 783.873950; finalDepth = 780.883208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.3452 # Altitude Set: 72.3452 # Vehicle Depth:783.87395 # Seafloor Depth:-855.657184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 173.63; MB_Bottom_Detect_Filter_Min_Depth = 36.17; MB_Bottom_Detect_Filter_Max_Depth = 173.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.419556 meters # Minimum depth: 856.643525 meters looking forward 200.000000 meters along route # Maximum depth: 862.771395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.643525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805439; longitude = -118.663774; captureRadius = 10; duration = 113; initialDepth = 786.643525; finalDepth = 783.873950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.074568 # Altitude Set: 73.074568 # Vehicle Depth:786.643525 # Seafloor Depth:-859.718093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 175.38; MB_Bottom_Detect_Filter_Min_Depth = 36.54; MB_Bottom_Detect_Filter_Max_Depth = 175.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 117.208489 meters # Minimum depth: 861.102271 meters looking forward 200.000000 meters along route # Maximum depth: 865.742592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.102271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804602; longitude = -118.664479; captureRadius = 10; duration = 117; initialDepth = 791.102271; finalDepth = 786.643525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.074568 # Altitude Set: 73.074568 # Vehicle Depth:791.102271 # Seafloor Depth:-862.816856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 175.38; MB_Bottom_Detect_Filter_Min_Depth = 36.54; MB_Bottom_Detect_Filter_Max_Depth = 175.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.699591 meters # Minimum depth: 863.955336 meters looking forward 200.000000 meters along route # Maximum depth: 868.839993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.955336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.665208; captureRadius = 10; duration = 108; initialDepth = 793.955336; finalDepth = 791.102271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.068367 # Altitude Set: 72.068367 # Vehicle Depth:793.955336 # Seafloor Depth:-866.023703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 172.96; MB_Bottom_Detect_Filter_Min_Depth = 36.03; MB_Bottom_Detect_Filter_Max_Depth = 172.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 93.879358 meters # Minimum depth: 866.643847 meters looking forward 200.000000 meters along route # Maximum depth: 868.994981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.643847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802937; longitude = -118.665883; captureRadius = 10; duration = 93; initialDepth = 796.643847; finalDepth = 793.955336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.334898 # Altitude Set: 72.334898 # Vehicle Depth:796.643847 # Seafloor Depth:-868.978745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 173.60; MB_Bottom_Detect_Filter_Min_Depth = 36.17; MB_Bottom_Detect_Filter_Max_Depth = 173.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.120642 meters # Minimum depth: 868.880290 meters looking forward 200.000000 meters along route # Maximum depth: 870.022234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.880290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803424; longitude = -118.666712; captureRadius = 10; duration = 106; initialDepth = 798.880290; finalDepth = 796.643847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.334898 # Altitude Set: 72.334898 # Vehicle Depth:798.88029 # Seafloor Depth:-869.021083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 173.60; MB_Bottom_Detect_Filter_Min_Depth = 36.17; MB_Bottom_Detect_Filter_Max_Depth = 173.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 95.495793 meters # Minimum depth: 868.175945 meters looking forward 200.000000 meters along route # Maximum depth: 870.022234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.175945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803974; longitude = -118.667650; captureRadius = 10; duration = 95; initialDepth = 798.175945; finalDepth = 798.880290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8403060000001 # Altitude Set: 71.8403060000001 # Vehicle Depth:798.175945 # Seafloor Depth:-870.016251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 172.42; MB_Bottom_Detect_Filter_Min_Depth = 35.92; MB_Bottom_Detect_Filter_Max_Depth = 172.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.593330 meters # Minimum depth: 866.249164 meters looking forward 200.000000 meters along route # Maximum depth: 869.935638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.249164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804680; longitude = -118.667058; captureRadius = 10; duration = 111; initialDepth = 796.249164; finalDepth = 798.175945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8403060000001 # Altitude Set: 71.8403060000001 # Vehicle Depth:796.249164 # Seafloor Depth:-867.949631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 172.42; MB_Bottom_Detect_Filter_Min_Depth = 35.92; MB_Bottom_Detect_Filter_Max_Depth = 172.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.987831 meters # Minimum depth: 863.440833 meters looking forward 200.000000 meters along route # Maximum depth: 867.643984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.440833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805504; longitude = -118.666367; captureRadius = 10; duration = 111; initialDepth = 793.440833; finalDepth = 796.249164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.6854949999999 # Altitude Set: 72.6854949999999 # Vehicle Depth:793.440833 # Seafloor Depth:-866.126328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 174.45; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 117.019689 meters # Minimum depth: 859.981310 meters looking forward 200.000000 meters along route # Maximum depth: 865.039411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.981310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.665673; captureRadius = 10; duration = 117; initialDepth = 789.981310; finalDepth = 793.440833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.448298 # Altitude Set: 73.448298 # Vehicle Depth:789.98131 # Seafloor Depth:-863.429608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 176.28; MB_Bottom_Detect_Filter_Min_Depth = 36.72; MB_Bottom_Detect_Filter_Max_Depth = 176.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 117.019282 meters # Minimum depth: 858.360589 meters looking forward 200.000000 meters along route # Maximum depth: 862.218849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.360589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807195; longitude = -118.664948; captureRadius = 10; duration = 117; initialDepth = 788.360589; finalDepth = 789.981310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.448298 # Altitude Set: 73.448298 # Vehicle Depth:788.360589 # Seafloor Depth:-859.801697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 176.28; MB_Bottom_Detect_Filter_Min_Depth = 36.72; MB_Bottom_Detect_Filter_Max_Depth = 176.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.342821 meters # Minimum depth: 856.178098 meters looking forward 200.000000 meters along route # Maximum depth: 859.114527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.178098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808060; longitude = -118.664223; captureRadius = 10; duration = 100; initialDepth = 786.178098; finalDepth = 788.360589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.963652 # Altitude Set: 71.963652 # Vehicle Depth:786.178098 # Seafloor Depth:-858.141750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 172.71; MB_Bottom_Detect_Filter_Min_Depth = 35.98; MB_Bottom_Detect_Filter_Max_Depth = 172.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.591481 meters # Minimum depth: 855.052683 meters looking forward 200.000000 meters along route # Maximum depth: 857.769838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.052683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808801; longitude = -118.663601; captureRadius = 10; duration = 111; initialDepth = 785.052683; finalDepth = 786.178098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.963652 # Altitude Set: 71.963652 # Vehicle Depth:785.052683 # Seafloor Depth:-856.109691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 172.71; MB_Bottom_Detect_Filter_Min_Depth = 35.98; MB_Bottom_Detect_Filter_Max_Depth = 172.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 115.717524 meters # Minimum depth: 854.292558 meters looking forward 200.000000 meters along route # Maximum depth: 855.861034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.292558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809625; longitude = -118.662910; captureRadius = 10; duration = 115; initialDepth = 784.292558; finalDepth = 785.052683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.057008 # Altitude Set: 71.057008 # Vehicle Depth:784.292558 # Seafloor Depth:-855.034478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 170.54; MB_Bottom_Detect_Filter_Min_Depth = 35.53; MB_Bottom_Detect_Filter_Max_Depth = 170.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.464329 meters # Minimum depth: 854.292558 meters looking forward 200.000000 meters along route # Maximum depth: 854.837462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.292558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810479; longitude = -118.662193; captureRadius = 10; duration = 107; initialDepth = 784.292558; finalDepth = 784.292558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.7419200000001 # Altitude Set: 70.7419200000001 # Vehicle Depth:784.292558 # Seafloor Depth:-854.773888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.37; MB_Bottom_Detect_Filter_Max_Range = 169.78; MB_Bottom_Detect_Filter_Min_Depth = 35.37; MB_Bottom_Detect_Filter_Max_Depth = 169.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.167305 meters # Minimum depth: 854.787569 meters looking forward 200.000000 meters along route # Maximum depth: 854.838066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.787569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811273; longitude = -118.661527; captureRadius = 10; duration = 103; initialDepth = 784.787569; finalDepth = 784.292558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.4813300000001 # Altitude Set: 70.4813300000001 # Vehicle Depth:784.787569 # Seafloor Depth:-854.819211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 169.16; MB_Bottom_Detect_Filter_Min_Depth = 35.24; MB_Bottom_Detect_Filter_Max_Depth = 169.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.414761 meters # Minimum depth: 854.517378 meters looking forward 200.000000 meters along route # Maximum depth: 854.838066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.517378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812035; longitude = -118.660888; captureRadius = 10; duration = 101; initialDepth = 784.517378; finalDepth = 784.787569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.187328 # Altitude Set: 70.187328 # Vehicle Depth:784.517378 # Seafloor Depth:-854.704706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.09; MB_Bottom_Detect_Filter_Max_Range = 168.45; MB_Bottom_Detect_Filter_Min_Depth = 35.09; MB_Bottom_Detect_Filter_Max_Depth = 168.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 78.487399 meters # Minimum depth: 854.362873 meters looking forward 200.000000 meters along route # Maximum depth: 854.803496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.362873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812784; longitude = -118.660259; captureRadius = 10; duration = 78; initialDepth = 784.362873; finalDepth = 784.517378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.264243 # Altitude Set: 70.264243 # Vehicle Depth:784.362873 # Seafloor Depth:-854.627116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 168.63; MB_Bottom_Detect_Filter_Min_Depth = 35.13; MB_Bottom_Detect_Filter_Max_Depth = 168.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.912706 meters # Minimum depth: 854.355838 meters looking forward 200.000000 meters along route # Maximum depth: 854.792159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.355838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812381; longitude = -118.659563; captureRadius = 10; duration = 100; initialDepth = 784.355838; finalDepth = 784.362873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.264243 # Altitude Set: 70.264243 # Vehicle Depth:784.355838 # Seafloor Depth:-854.402571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 168.63; MB_Bottom_Detect_Filter_Min_Depth = 35.13; MB_Bottom_Detect_Filter_Max_Depth = 168.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.913083 meters # Minimum depth: 853.997292 meters looking forward 200.000000 meters along route # Maximum depth: 854.792159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.997292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811862; longitude = -118.658667; captureRadius = 10; duration = 100; initialDepth = 783.997292; finalDepth = 784.355838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.297913 # Altitude Set: 70.297913 # Vehicle Depth:783.997292 # Seafloor Depth:-854.295205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.15; MB_Bottom_Detect_Filter_Max_Range = 168.71; MB_Bottom_Detect_Filter_Min_Depth = 35.15; MB_Bottom_Detect_Filter_Max_Depth = 168.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.913460 meters # Minimum depth: 853.696552 meters looking forward 200.000000 meters along route # Maximum depth: 854.292461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.696552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811344; longitude = -118.657771; captureRadius = 10; duration = 100; initialDepth = 783.696552; finalDepth = 783.997292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.297913 # Altitude Set: 70.297913 # Vehicle Depth:783.696552 # Seafloor Depth:-853.877691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.15; MB_Bottom_Detect_Filter_Max_Range = 168.71; MB_Bottom_Detect_Filter_Min_Depth = 35.15; MB_Bottom_Detect_Filter_Max_Depth = 168.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.913837 meters # Minimum depth: 853.581389 meters looking forward 200.000000 meters along route # Maximum depth: 853.840319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.581389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810825; longitude = -118.656876; captureRadius = 10; duration = 100; initialDepth = 783.581389; finalDepth = 783.696552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.255564 # Altitude Set: 70.255564 # Vehicle Depth:783.581389 # Seafloor Depth:-853.836953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 168.61; MB_Bottom_Detect_Filter_Min_Depth = 35.13; MB_Bottom_Detect_Filter_Max_Depth = 168.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.914215 meters # Minimum depth: 853.046872 meters looking forward 200.000000 meters along route # Maximum depth: 853.797482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.046872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810307; longitude = -118.655980; captureRadius = 10; duration = 100; initialDepth = 783.046872; finalDepth = 783.581389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.670041 # Altitude Set: 70.670041 # Vehicle Depth:783.046872 # Seafloor Depth:-853.716913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.34; MB_Bottom_Detect_Filter_Max_Range = 169.61; MB_Bottom_Detect_Filter_Min_Depth = 35.34; MB_Bottom_Detect_Filter_Max_Depth = 169.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.914591 meters # Minimum depth: 852.344010 meters looking forward 200.000000 meters along route # Maximum depth: 853.563306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.344010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809788; longitude = -118.655084; captureRadius = 10; duration = 100; initialDepth = 782.344010; finalDepth = 783.046872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.76021 # Altitude Set: 70.76021 # Vehicle Depth:782.34401 # Seafloor Depth:-853.104220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.38; MB_Bottom_Detect_Filter_Max_Range = 169.82; MB_Bottom_Detect_Filter_Min_Depth = 35.38; MB_Bottom_Detect_Filter_Max_Depth = 169.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.914968 meters # Minimum depth: 850.433346 meters looking forward 200.000000 meters along route # Maximum depth: 853.112558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.433346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809269; longitude = -118.654189; captureRadius = 10; duration = 100; initialDepth = 780.433346; finalDepth = 782.344010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.820205 # Altitude Set: 71.820205 # Vehicle Depth:780.433346 # Seafloor Depth:-852.253551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 172.37; MB_Bottom_Detect_Filter_Min_Depth = 35.91; MB_Bottom_Detect_Filter_Max_Depth = 172.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.915345 meters # Minimum depth: 848.690799 meters looking forward 200.000000 meters along route # Maximum depth: 852.056339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.690799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808751; longitude = -118.653293; captureRadius = 10; duration = 100; initialDepth = 778.690799; finalDepth = 780.433346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.820205 # Altitude Set: 71.820205 # Vehicle Depth:778.690799 # Seafloor Depth:-850.263550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 172.37; MB_Bottom_Detect_Filter_Min_Depth = 35.91; MB_Bottom_Detect_Filter_Max_Depth = 172.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.915723 meters # Minimum depth: 846.888527 meters looking forward 200.000000 meters along route # Maximum depth: 850.160445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.888527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808232; longitude = -118.652397; captureRadius = 10; duration = 100; initialDepth = 776.888527; finalDepth = 778.690799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.572751 # Altitude Set: 71.572751 # Vehicle Depth:776.888527 # Seafloor Depth:-848.215948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 171.77; MB_Bottom_Detect_Filter_Min_Depth = 35.79; MB_Bottom_Detect_Filter_Max_Depth = 171.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.916099 meters # Minimum depth: 845.173070 meters looking forward 200.000000 meters along route # Maximum depth: 848.109468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.173070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807714; longitude = -118.651502; captureRadius = 10; duration = 100; initialDepth = 775.173070; finalDepth = 776.888527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4378919999999 # Altitude Set: 71.4378919999999 # Vehicle Depth:775.17307 # Seafloor Depth:-846.610962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 171.45; MB_Bottom_Detect_Filter_Min_Depth = 35.72; MB_Bottom_Detect_Filter_Max_Depth = 171.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.916477 meters # Minimum depth: 844.176726 meters looking forward 200.000000 meters along route # Maximum depth: 846.208117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.176726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807195; longitude = -118.650606; captureRadius = 10; duration = 100; initialDepth = 774.176726; finalDepth = 775.173070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.4378919999999 # Altitude Set: 71.4378919999999 # Vehicle Depth:774.176726 # Seafloor Depth:-845.139515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 171.45; MB_Bottom_Detect_Filter_Min_Depth = 35.72; MB_Bottom_Detect_Filter_Max_Depth = 171.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.916854 meters # Minimum depth: 842.621495 meters looking forward 200.000000 meters along route # Maximum depth: 844.883484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.621495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806677; longitude = -118.649710; captureRadius = 10; duration = 100; initialDepth = 772.621495; finalDepth = 774.176726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.484051 # Altitude Set: 71.484051 # Vehicle Depth:772.621495 # Seafloor Depth:-844.105546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 171.56; MB_Bottom_Detect_Filter_Min_Depth = 35.74; MB_Bottom_Detect_Filter_Max_Depth = 171.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.917231 meters # Minimum depth: 841.268205 meters looking forward 200.000000 meters along route # Maximum depth: 843.905945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.268205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.648814; captureRadius = 10; duration = 100; initialDepth = 771.268205; finalDepth = 772.621495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.484051 # Altitude Set: 71.484051 # Vehicle Depth:771.268205 # Seafloor Depth:-842.390586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 171.56; MB_Bottom_Detect_Filter_Min_Depth = 35.74; MB_Bottom_Detect_Filter_Max_Depth = 171.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.688096 meters # Minimum depth: 839.799555 meters looking forward 200.000000 meters along route # Maximum depth: 842.231442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.799555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805640; longitude = -118.647919; captureRadius = 10; duration = 102; initialDepth = 769.799555; finalDepth = 771.268205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.333496 # Altitude Set: 71.333496 # Vehicle Depth:769.799555 # Seafloor Depth:-841.133051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.67; MB_Bottom_Detect_Filter_Max_Range = 171.20; MB_Bottom_Detect_Filter_Min_Depth = 35.67; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.360630 meters # Minimum depth: 839.224021 meters looking forward 200.000000 meters along route # Maximum depth: 840.776155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.224021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805112; longitude = -118.647007; captureRadius = 10; duration = 110; initialDepth = 769.224021; finalDepth = 769.799555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.333496 # Altitude Set: 71.333496 # Vehicle Depth:769.224021 # Seafloor Depth:-839.789965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.67; MB_Bottom_Detect_Filter_Max_Range = 171.20; MB_Bottom_Detect_Filter_Min_Depth = 35.67; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 10.331581 meters # Minimum depth: 839.224021 meters looking forward 200.000000 meters along route # Maximum depth: 840.776155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.224021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804545; longitude = -118.646028; captureRadius = 10; duration = 10; initialDepth = 769.224021; finalDepth = 769.224021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5659440000001 # Altitude Set: 70.5659440000001 # Vehicle Depth:769.224021 # Seafloor Depth:-839.471436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 169.36; MB_Bottom_Detect_Filter_Min_Depth = 35.28; MB_Bottom_Detect_Filter_Max_Depth = 169.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.055417 meters # Minimum depth: 839.224021 meters looking forward 200.000000 meters along route # Maximum depth: 840.476836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.224021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804625; longitude = -118.645970; captureRadius = 10; duration = 109; initialDepth = 769.224021; finalDepth = 769.224021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5101110000001 # Altitude Set: 70.5101110000001 # Vehicle Depth:769.224021 # Seafloor Depth:-839.734132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 169.22; MB_Bottom_Detect_Filter_Min_Depth = 35.26; MB_Bottom_Detect_Filter_Max_Depth = 169.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.924988 meters # Minimum depth: 840.083717 meters looking forward 200.000000 meters along route # Maximum depth: 841.252064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.083717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.645362; captureRadius = 10; duration = 111; initialDepth = 770.083717; finalDepth = 769.224021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5955660000001 # Altitude Set: 70.5955660000001 # Vehicle Depth:770.083717 # Seafloor Depth:-840.679283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 169.43; MB_Bottom_Detect_Filter_Min_Depth = 35.30; MB_Bottom_Detect_Filter_Max_Depth = 169.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.924674 meters # Minimum depth: 840.699515 meters looking forward 200.000000 meters along route # Maximum depth: 841.252064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.699515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806331; longitude = -118.644738; captureRadius = 10; duration = 111; initialDepth = 770.699515; finalDepth = 770.083717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 70.5955660000001 # Altitude Set: 70.5955660000001 # Vehicle Depth:770.699515 # Seafloor Depth:-841.139023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 169.43; MB_Bottom_Detect_Filter_Min_Depth = 35.30; MB_Bottom_Detect_Filter_Max_Depth = 169.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.018923 meters # Minimum depth: 839.382143 meters looking forward 200.000000 meters along route # Maximum depth: 840.959104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.382143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807195; longitude = -118.644114; captureRadius = 10; duration = 101; initialDepth = 769.382143; finalDepth = 770.699515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.297255 # Altitude Set: 71.297255 # Vehicle Depth:769.382143 # Seafloor Depth:-840.679398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.65; MB_Bottom_Detect_Filter_Max_Range = 171.11; MB_Bottom_Detect_Filter_Min_Depth = 35.65; MB_Bottom_Detect_Filter_Max_Depth = 171.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.444700 meters # Minimum depth: 837.926168 meters looking forward 200.000000 meters along route # Maximum depth: 840.665973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.926168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807975; longitude = -118.643550; captureRadius = 10; duration = 100; initialDepth = 767.926168; finalDepth = 769.382143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.55206 # Altitude Set: 71.55206 # Vehicle Depth:767.926168 # Seafloor Depth:-839.478228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 171.72; MB_Bottom_Detect_Filter_Min_Depth = 35.78; MB_Bottom_Detect_Filter_Max_Depth = 171.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.515535 meters # Minimum depth: 835.936162 meters looking forward 200.000000 meters along route # Maximum depth: 839.599248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.936162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808751; longitude = -118.642990; captureRadius = 10; duration = 116; initialDepth = 765.936162; finalDepth = 767.926168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.8202630000001 # Altitude Set: 71.8202630000001 # Vehicle Depth:765.936162 # Seafloor Depth:-837.756425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 172.37; MB_Bottom_Detect_Filter_Min_Depth = 35.91; MB_Bottom_Detect_Filter_Max_Depth = 172.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.331744 meters # Minimum depth: 833.456649 meters looking forward 200.000000 meters along route # Maximum depth: 837.640531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.456649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809651; longitude = -118.642340; captureRadius = 10; duration = 107; initialDepth = 763.456649; finalDepth = 765.936162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.2575370000001 # Altitude Set: 72.2575370000001 # Vehicle Depth:763.456649 # Seafloor Depth:-835.714186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 173.42; MB_Bottom_Detect_Filter_Min_Depth = 36.13; MB_Bottom_Detect_Filter_Max_Depth = 173.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.923170 meters # Minimum depth: 823.325270 meters looking forward 200.000000 meters along route # Maximum depth: 834.481347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.325270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810479; longitude = -118.641742; captureRadius = 10; duration = 111; initialDepth = 753.325270; finalDepth = 763.456649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.74884 # Altitude Set: 79.74884 # Vehicle Depth:753.32527 # Seafloor Depth:-833.074110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.87; MB_Bottom_Detect_Filter_Max_Range = 191.40; MB_Bottom_Detect_Filter_Min_Depth = 39.87; MB_Bottom_Detect_Filter_Max_Depth = 191.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.680219 meters # Minimum depth: 812.638383 meters looking forward 200.000000 meters along route # Maximum depth: 829.533167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 742.638383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811344; longitude = -118.641118; captureRadius = 10; duration = 121; initialDepth = 742.638383; finalDepth = 753.325270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.4684600000001 # Altitude Set: 80.4684600000001 # Vehicle Depth:742.638383 # Seafloor Depth:-823.106843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 193.12; MB_Bottom_Detect_Filter_Min_Depth = 40.23; MB_Bottom_Detect_Filter_Max_Depth = 193.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.165181 meters # Minimum depth: 802.939453 meters looking forward 200.000000 meters along route # Maximum depth: 820.413161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 732.939453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812283; longitude = -118.640439; captureRadius = 10; duration = 102; initialDepth = 732.939453; finalDepth = 742.638383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.4684600000001 # Altitude Set: 80.4684600000001 # Vehicle Depth:732.939453 # Seafloor Depth:-811.725911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 193.12; MB_Bottom_Detect_Filter_Min_Depth = 40.23; MB_Bottom_Detect_Filter_Max_Depth = 193.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.460757 meters # Minimum depth: 793.296224 meters looking forward 200.000000 meters along route # Maximum depth: 810.541884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 723.296224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813072; longitude = -118.639869; captureRadius = 10; duration = 104; initialDepth = 723.296224; finalDepth = 732.939453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.786458 # Altitude Set: 78.786458 # Vehicle Depth:723.296224 # Seafloor Depth:-802.057509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 189.09; MB_Bottom_Detect_Filter_Min_Depth = 39.39; MB_Bottom_Detect_Filter_Max_Depth = 189.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 95.874392 meters # Minimum depth: 783.913158 meters looking forward 200.000000 meters along route # Maximum depth: 799.957181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 713.913158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813879; longitude = -118.639287; captureRadius = 10; duration = 95; initialDepth = 713.913158; finalDepth = 723.296224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.7612849999999 # Altitude Set: 78.7612849999999 # Vehicle Depth:713.913158 # Seafloor Depth:-791.794271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 189.03; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 189.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.624029 meters # Minimum depth: 775.078908 meters looking forward 200.000000 meters along route # Maximum depth: 791.041241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 705.078908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814628; longitude = -118.638770; captureRadius = 10; duration = 110; initialDepth = 705.078908; finalDepth = 713.913158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.881113 # Altitude Set: 77.881113 # Vehicle Depth:705.078908 # Seafloor Depth:-781.552632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.94; MB_Bottom_Detect_Filter_Max_Range = 186.91; MB_Bottom_Detect_Filter_Min_Depth = 38.94; MB_Bottom_Detect_Filter_Max_Depth = 186.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.623739 meters # Minimum depth: 771.921472 meters looking forward 200.000000 meters along route # Maximum depth: 778.984383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 701.921472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815492; longitude = -118.638173; captureRadius = 10; duration = 110; initialDepth = 701.921472; finalDepth = 705.078908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.4737240000001 # Altitude Set: 76.4737240000001 # Vehicle Depth:701.921472 # Seafloor Depth:-774.932948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.24; MB_Bottom_Detect_Filter_Max_Range = 183.54; MB_Bottom_Detect_Filter_Min_Depth = 38.24; MB_Bottom_Detect_Filter_Max_Depth = 183.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.623451 meters # Minimum depth: 759.709625 meters looking forward 200.000000 meters along route # Maximum depth: 773.984741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 689.709625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816356; longitude = -118.637576; captureRadius = 10; duration = 110; initialDepth = 689.709625; finalDepth = 701.921472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.255834 # Altitude Set: 81.255834 # Vehicle Depth:689.709625 # Seafloor Depth:-770.965459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.63; MB_Bottom_Detect_Filter_Max_Range = 195.01; MB_Bottom_Detect_Filter_Min_Depth = 40.63; MB_Bottom_Detect_Filter_Max_Depth = 195.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.623161 meters # Minimum depth: 750.034489 meters looking forward 200.000000 meters along route # Maximum depth: 768.852902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 680.034489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817221; longitude = -118.636980; captureRadius = 10; duration = 110; initialDepth = 680.034489; finalDepth = 689.709625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.255834 # Altitude Set: 81.255834 # Vehicle Depth:680.034489 # Seafloor Depth:-759.664377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.63; MB_Bottom_Detect_Filter_Max_Range = 195.01; MB_Bottom_Detect_Filter_Min_Depth = 40.63; MB_Bottom_Detect_Filter_Max_Depth = 195.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.347890 meters # Minimum depth: 737.496841 meters looking forward 200.000000 meters along route # Maximum depth: 756.691603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 667.496841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818085; longitude = -118.636383; captureRadius = 10; duration = 113; initialDepth = 667.496841; finalDepth = 680.034489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.980854 # Altitude Set: 80.980854 # Vehicle Depth:667.496841 # Seafloor Depth:-748.477695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.49; MB_Bottom_Detect_Filter_Max_Range = 194.35; MB_Bottom_Detect_Filter_Min_Depth = 40.49; MB_Bottom_Detect_Filter_Max_Depth = 194.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.897566 meters # Minimum depth: 728.492031 meters looking forward 200.000000 meters along route # Maximum depth: 746.201970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 658.492031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818970; longitude = -118.635772; captureRadius = 10; duration = 107; initialDepth = 658.492031; finalDepth = 667.496841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.980854 # Altitude Set: 80.980854 # Vehicle Depth:658.492031 # Seafloor Depth:-737.242685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.49; MB_Bottom_Detect_Filter_Max_Range = 194.35; MB_Bottom_Detect_Filter_Min_Depth = 40.49; MB_Bottom_Detect_Filter_Max_Depth = 194.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.461586 meters # Minimum depth: 716.628692 meters looking forward 200.000000 meters along route # Maximum depth: 734.280631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 646.628692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819813; longitude = -118.635190; captureRadius = 10; duration = 116; initialDepth = 646.628692; finalDepth = 658.492031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.805343 # Altitude Set: 80.805343 # Vehicle Depth:646.628692 # Seafloor Depth:-727.434035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.40; MB_Bottom_Detect_Filter_Max_Range = 193.93; MB_Bottom_Detect_Filter_Min_Depth = 40.40; MB_Bottom_Detect_Filter_Max_Depth = 193.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.782713 meters # Minimum depth: 706.501777 meters looking forward 200.000000 meters along route # Maximum depth: 725.421496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 636.501777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820723; longitude = -118.634562; captureRadius = 10; duration = 104; initialDepth = 636.501777; finalDepth = 646.628692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.805343 # Altitude Set: 80.805343 # Vehicle Depth:636.501777 # Seafloor Depth:-716.057664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.40; MB_Bottom_Detect_Filter_Max_Range = 193.93; MB_Bottom_Detect_Filter_Min_Depth = 40.40; MB_Bottom_Detect_Filter_Max_Depth = 193.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.575250 meters # Minimum depth: 694.427065 meters looking forward 200.000000 meters along route # Maximum depth: 712.898722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 624.427065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821542; longitude = -118.633997; captureRadius = 10; duration = 119; initialDepth = 624.427065; finalDepth = 636.501777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.167488 # Altitude Set: 81.167488 # Vehicle Depth:624.427065 # Seafloor Depth:-705.594553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.58; MB_Bottom_Detect_Filter_Max_Range = 194.80; MB_Bottom_Detect_Filter_Min_Depth = 40.58; MB_Bottom_Detect_Filter_Max_Depth = 194.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.667893 meters # Minimum depth: 683.252066 meters looking forward 200.000000 meters along route # Maximum depth: 703.235480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 613.252066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822476; longitude = -118.633352; captureRadius = 10; duration = 101; initialDepth = 613.252066; finalDepth = 624.427065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.167488 # Altitude Set: 81.167488 # Vehicle Depth:613.252066 # Seafloor Depth:-693.489841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.58; MB_Bottom_Detect_Filter_Max_Range = 194.80; MB_Bottom_Detect_Filter_Min_Depth = 40.58; MB_Bottom_Detect_Filter_Max_Depth = 194.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.621138 meters # Minimum depth: 673.619696 meters looking forward 200.000000 meters along route # Maximum depth: 692.070414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 603.619696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823270; longitude = -118.632804; captureRadius = 10; duration = 110; initialDepth = 603.619696; finalDepth = 613.252066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.2377749999999 # Altitude Set: 80.2377749999999 # Vehicle Depth:603.619696 # Seafloor Depth:-682.686796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 192.57; MB_Bottom_Detect_Filter_Min_Depth = 40.12; MB_Bottom_Detect_Filter_Max_Depth = 192.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.620848 meters # Minimum depth: 661.202041 meters looking forward 200.000000 meters along route # Maximum depth: 680.461651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 591.202041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824135; longitude = -118.632207; captureRadius = 10; duration = 110; initialDepth = 591.202041; finalDepth = 603.619696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.45581 # Altitude Set: 80.45581 # Vehicle Depth:591.202041 # Seafloor Depth:-671.657851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 193.09; MB_Bottom_Detect_Filter_Min_Depth = 40.23; MB_Bottom_Detect_Filter_Max_Depth = 193.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.620560 meters # Minimum depth: 651.995055 meters looking forward 200.000000 meters along route # Maximum depth: 669.466999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 581.995055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824999; longitude = -118.631611; captureRadius = 10; duration = 110; initialDepth = 581.995055; finalDepth = 591.202041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.45581 # Altitude Set: 80.45581 # Vehicle Depth:581.995055 # Seafloor Depth:-660.967223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 193.09; MB_Bottom_Detect_Filter_Min_Depth = 40.23; MB_Bottom_Detect_Filter_Max_Depth = 193.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.333949 meters # Minimum depth: 638.218822 meters looking forward 200.000000 meters along route # Maximum depth: 658.772380 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.218822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825863; longitude = -118.631014; captureRadius = 10; duration = 111; initialDepth = 568.218822; finalDepth = 581.995055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.4054679999999 # Altitude Set: 82.4054679999999 # Vehicle Depth:568.218822 # Seafloor Depth:-650.624290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 41.20; MB_Bottom_Detect_Filter_Max_Depth = 197.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.906304 meters # Minimum depth: 628.855082 meters looking forward 200.000000 meters along route # Maximum depth: 648.348651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.855082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826733; longitude = -118.630414; captureRadius = 10; duration = 109; initialDepth = 558.855082; finalDepth = 568.218822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.4054679999999 # Altitude Set: 82.4054679999999 # Vehicle Depth:558.855082 # Seafloor Depth:-638.137514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 41.20; MB_Bottom_Detect_Filter_Max_Depth = 197.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.447582 meters # Minimum depth: 615.169524 meters looking forward 200.000000 meters along route # Maximum depth: 634.563482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 545.169524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827592; longitude = -118.629821; captureRadius = 10; duration = 114; initialDepth = 545.169524; finalDepth = 558.855082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.5568489999999 # Altitude Set: 82.5568489999999 # Vehicle Depth:545.169524 # Seafloor Depth:-627.726373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.28; MB_Bottom_Detect_Filter_Max_Range = 198.14; MB_Bottom_Detect_Filter_Min_Depth = 41.28; MB_Bottom_Detect_Filter_Max_Depth = 198.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.791514 meters # Minimum depth: 603.222946 meters looking forward 200.000000 meters along route # Maximum depth: 625.693144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 533.222946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828486; longitude = -118.629204; captureRadius = 10; duration = 106; initialDepth = 533.222946; finalDepth = 545.169524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.5568489999999 # Altitude Set: 82.5568489999999 # Vehicle Depth:533.222946 # Seafloor Depth:-614.704293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.28; MB_Bottom_Detect_Filter_Max_Range = 198.14; MB_Bottom_Detect_Filter_Min_Depth = 41.28; MB_Bottom_Detect_Filter_Max_Depth = 198.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 117.561184 meters # Minimum depth: 586.690883 meters looking forward 200.000000 meters along route # Maximum depth: 610.836384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 516.690883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829320; longitude = -118.628628; captureRadius = 10; duration = 117; initialDepth = 516.690883; finalDepth = 533.222946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.260727 # Altitude Set: 85.260727 # Vehicle Depth:516.690883 # Seafloor Depth:-601.951610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.63; MB_Bottom_Detect_Filter_Max_Range = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 42.63; MB_Bottom_Detect_Filter_Max_Depth = 204.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.676756 meters # Minimum depth: 571.462943 meters looking forward 200.000000 meters along route # Maximum depth: 599.201528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 501.462943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830239; longitude = -118.627994; captureRadius = 10; duration = 103; initialDepth = 501.462943; finalDepth = 516.690883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.260727 # Altitude Set: 85.260727 # Vehicle Depth:501.462943 # Seafloor Depth:-585.681856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.63; MB_Bottom_Detect_Filter_Max_Range = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 42.63; MB_Bottom_Detect_Filter_Max_Depth = 204.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.674753 meters # Minimum depth: 549.171388 meters looking forward 200.000000 meters along route # Maximum depth: 581.027608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 479.171388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831049; longitude = -118.627434; captureRadius = 10; duration = 120; initialDepth = 479.171388; finalDepth = 501.462943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.062982 # Altitude Set: 91.062982 # Vehicle Depth:479.171388 # Seafloor Depth:-570.234370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.53; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 45.53; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.562031 meters # Minimum depth: 530.323841 meters looking forward 200.000000 meters along route # Maximum depth: 566.520834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 460.323841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831992; longitude = -118.626784; captureRadius = 10; duration = 100; initialDepth = 460.323841; finalDepth = 479.171388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.062982 # Altitude Set: 91.062982 # Vehicle Depth:460.323841 # Seafloor Depth:-547.083823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.53; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 45.53; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.617958 meters # Minimum depth: 515.205824 meters looking forward 200.000000 meters along route # Maximum depth: 544.792951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 445.205824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832777; longitude = -118.626241; captureRadius = 10; duration = 110; initialDepth = 445.205824; finalDepth = 460.323841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.759982 # Altitude Set: 86.759982 # Vehicle Depth:445.205824 # Seafloor Depth:-529.640504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.38; MB_Bottom_Detect_Filter_Max_Range = 208.22; MB_Bottom_Detect_Filter_Min_Depth = 43.38; MB_Bottom_Detect_Filter_Max_Depth = 208.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.617670 meters # Minimum depth: 496.550206 meters looking forward 200.000000 meters along route # Maximum depth: 526.282345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 426.550206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833642; longitude = -118.625645; captureRadius = 10; duration = 110; initialDepth = 426.550206; finalDepth = 445.205824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.478347 # Altitude Set: 85.478347 # Vehicle Depth:426.550206 # Seafloor Depth:-512.028553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.74; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 42.74; MB_Bottom_Detect_Filter_Max_Depth = 205.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.617380 meters # Minimum depth: 483.356676 meters looking forward 200.000000 meters along route # Maximum depth: 508.919077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 413.356676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834506; longitude = -118.625048; captureRadius = 10; duration = 110; initialDepth = 413.356676; finalDepth = 426.550206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.478347 # Altitude Set: 85.478347 # Vehicle Depth:413.356676 # Seafloor Depth:-496.366178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.74; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 42.74; MB_Bottom_Detect_Filter_Max_Depth = 205.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 112.433675 meters # Minimum depth: 465.149453 meters looking forward 200.000000 meters along route # Maximum depth: 492.124417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 395.149453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835370; longitude = -118.624452; captureRadius = 10; duration = 112; initialDepth = 395.149453; finalDepth = 413.356676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.997661 # Altitude Set: 85.997661 # Vehicle Depth:395.149453 # Seafloor Depth:-481.147114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.00; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 43.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.800219 meters # Minimum depth: 452.337061 meters looking forward 200.000000 meters along route # Maximum depth: 477.839814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 382.337061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836249; longitude = -118.623845; captureRadius = 10; duration = 108; initialDepth = 382.337061; finalDepth = 395.149453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.997661 # Altitude Set: 85.997661 # Vehicle Depth:382.337061 # Seafloor Depth:-464.912878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.00; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 43.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.547214 meters # Minimum depth: 437.752282 meters looking forward 200.000000 meters along route # Maximum depth: 460.719237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 367.752282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837099; longitude = -118.623258; captureRadius = 10; duration = 115; initialDepth = 367.752282; finalDepth = 382.337061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.906533 # Altitude Set: 82.906533 # Vehicle Depth:367.752282 # Seafloor Depth:-450.658815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.45; MB_Bottom_Detect_Filter_Max_Range = 198.98; MB_Bottom_Detect_Filter_Min_Depth = 41.45; MB_Bottom_Detect_Filter_Max_Depth = 198.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.685525 meters # Minimum depth: 422.084126 meters looking forward 200.000000 meters along route # Maximum depth: 447.738830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 352.084126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838001; longitude = -118.622635; captureRadius = 10; duration = 105; initialDepth = 352.084126; finalDepth = 367.752282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.819084 # Altitude Set: 84.819084 # Vehicle Depth:352.084126 # Seafloor Depth:-436.903210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.57; 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 = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 42.41; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.660719 meters # Minimum depth: 405.916847 meters looking forward 200.000000 meters along route # Maximum depth: 431.005568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 335.916847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838827; longitude = -118.622065; captureRadius = 10; duration = 118; initialDepth = 335.916847; finalDepth = 352.084126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.90144 # Altitude Set: 84.90144 # Vehicle Depth:335.916847 # Seafloor Depth:-420.818287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.45; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 42.45; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.570863 meters # Minimum depth: 392.446257 meters looking forward 200.000000 meters along route # Maximum depth: 417.874719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 322.446257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839754; longitude = -118.621425; captureRadius = 10; duration = 102; initialDepth = 322.446257; finalDepth = 335.916847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.90144 # Altitude Set: 84.90144 # Vehicle Depth:322.446257 # Seafloor Depth:-404.823628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.45; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 42.45; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.774193 meters # Minimum depth: 377.868746 meters looking forward 200.000000 meters along route # Maximum depth: 400.539092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 307.868746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840556; longitude = -118.620872; captureRadius = 10; duration = 121; initialDepth = 307.868746; finalDepth = 322.446257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.784781 # Altitude Set: 83.784781 # Vehicle Depth:307.868746 # Seafloor Depth:-391.653527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 41.89; MB_Bottom_Detect_Filter_Max_Depth = 201.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.830561 meters # Minimum depth: 365.475509 meters looking forward 200.000000 meters along route # Maximum depth: 386.138734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 295.475509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841507; longitude = -118.620215; captureRadius = 10; duration = 106; initialDepth = 295.475509; finalDepth = 307.868746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.784781 # Altitude Set: 83.784781 # Vehicle Depth:295.475509 # Seafloor Depth:-376.520583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 41.89; MB_Bottom_Detect_Filter_Max_Depth = 201.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 69.711980 meters # Minimum depth: 357.772026 meters looking forward 200.000000 meters along route # Maximum depth: 377.868746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 287.772026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842342; longitude = -118.619639; captureRadius = 10; duration = 69; initialDepth = 287.772026; finalDepth = 295.475509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.045074 # Altitude Set: 81.045074 # Vehicle Depth:287.772026 # Seafloor Depth:-364.839071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 194.51; MB_Bottom_Detect_Filter_Min_Depth = 40.52; MB_Bottom_Detect_Filter_Max_Depth = 194.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.567627 meters # Minimum depth: 346.635234 meters looking forward 200.000000 meters along route # Maximum depth: 365.781839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 276.635234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842803; longitude = -118.619127; captureRadius = 10; duration = 104; initialDepth = 276.635234; finalDepth = 287.772026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.326646 # Altitude Set: 80.326646 # Vehicle Depth:276.635234 # Seafloor Depth:-356.961880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.78; 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 = 192.78; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 192.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.567216 meters # Minimum depth: 331.118037 meters looking forward 200.000000 meters along route # Maximum depth: 355.019134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 261.118037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843494; longitude = -118.618359; captureRadius = 10; duration = 104; initialDepth = 261.118037; finalDepth = 276.635234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.322194 # Altitude Set: 83.322194 # Vehicle Depth:261.118037 # Seafloor Depth:-344.440231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.66; MB_Bottom_Detect_Filter_Max_Range = 199.97; MB_Bottom_Detect_Filter_Min_Depth = 41.66; MB_Bottom_Detect_Filter_Max_Depth = 199.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.566805 meters # Minimum depth: 315.586337 meters looking forward 200.000000 meters along route # Maximum depth: 341.057171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 245.586337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844186; longitude = -118.617591; captureRadius = 10; duration = 104; initialDepth = 245.586337; finalDepth = 261.118037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.909246 # Altitude Set: 84.909246 # Vehicle Depth:245.586337 # Seafloor Depth:-330.495583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.45; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 42.45; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.566395 meters # Minimum depth: 293.683649 meters looking forward 200.000000 meters along route # Maximum depth: 327.607200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 223.683649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844877; longitude = -118.616822; captureRadius = 10; duration = 104; initialDepth = 223.683649; finalDepth = 245.586337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.088722 # Altitude Set: 89.088722 # Vehicle Depth:223.683649 # Seafloor Depth:-312.772371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.54; MB_Bottom_Detect_Filter_Max_Range = 213.81; MB_Bottom_Detect_Filter_Min_Depth = 44.54; MB_Bottom_Detect_Filter_Max_Depth = 213.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.565983 meters # Minimum depth: 279.289738 meters looking forward 200.000000 meters along route # Maximum depth: 307.814982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 209.289738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845568; longitude = -118.616054; captureRadius = 10; duration = 104; initialDepth = 209.289738; finalDepth = 223.683649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.088722 # Altitude Set: 89.088722 # Vehicle Depth:209.289738 # Seafloor Depth:-293.387447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.54; MB_Bottom_Detect_Filter_Max_Range = 213.81; MB_Bottom_Detect_Filter_Min_Depth = 44.54; MB_Bottom_Detect_Filter_Max_Depth = 213.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.436951 meters # Minimum depth: 261.269478 meters looking forward 200.000000 meters along route # Maximum depth: 289.947830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 191.269478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846260; longitude = -118.615286; captureRadius = 10; duration = 105; initialDepth = 191.269478; finalDepth = 209.289738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.191569 # Altitude Set: 86.191569 # Vehicle Depth:191.269478 # Seafloor Depth:-277.461047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 43.10; MB_Bottom_Detect_Filter_Max_Depth = 206.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.693784 meters # Minimum depth: 246.752759 meters looking forward 200.000000 meters along route # Maximum depth: 275.751578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 176.752759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846957; longitude = -118.614511; captureRadius = 10; duration = 103; initialDepth = 176.752759; finalDepth = 191.269478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.191569 # Altitude Set: 86.191569 # Vehicle Depth:176.752759 # Seafloor Depth:-261.135202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 43.10; MB_Bottom_Detect_Filter_Max_Depth = 206.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.050235 meters # Minimum depth: 231.962888 meters looking forward 200.000000 meters along route # Maximum depth: 257.413407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 161.962888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847643; longitude = -118.613749; captureRadius = 10; duration = 108; initialDepth = 161.962888; finalDepth = 176.752759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.382443 # Altitude Set: 84.382443 # Vehicle Depth:161.962888 # Seafloor Depth:-245.397376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.19; MB_Bottom_Detect_Filter_Max_Range = 202.52; MB_Bottom_Detect_Filter_Min_Depth = 42.19; MB_Bottom_Detect_Filter_Max_Depth = 202.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.078856 meters # Minimum depth: 219.108443 meters looking forward 200.000000 meters along route # Maximum depth: 243.484356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 149.108443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848357; longitude = -118.612956; captureRadius = 10; duration = 101; initialDepth = 149.108443; finalDepth = 161.962888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.434488 # Altitude Set: 83.434488 # Vehicle Depth:149.108443 # Seafloor Depth:-231.538212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.72; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 41.72; MB_Bottom_Detect_Filter_Max_Depth = 200.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.563929 meters # Minimum depth: 207.095159 meters looking forward 200.000000 meters along route # Maximum depth: 228.710828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 137.095159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849025; longitude = -118.612213; captureRadius = 10; duration = 104; initialDepth = 137.095159; finalDepth = 149.108443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.429769 # Altitude Set: 82.429769 # Vehicle Depth:137.095159 # Seafloor Depth:-218.264771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.83; 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 = 197.83; MB_Bottom_Detect_Filter_Min_Depth = 41.21; MB_Bottom_Detect_Filter_Max_Depth = 197.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.563518 meters # Minimum depth: 192.290431 meters looking forward 200.000000 meters along route # Maximum depth: 216.152223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 122.290431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849717; longitude = -118.611445; captureRadius = 10; duration = 104; initialDepth = 122.290431; finalDepth = 137.095159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.483418 # Altitude Set: 82.483418 # Vehicle Depth:122.290431 # Seafloor Depth:-204.773849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 197.96; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 197.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.563108 meters # Minimum depth: 181.841544 meters looking forward 200.000000 meters along route # Maximum depth: 201.213700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 111.841544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850408; longitude = -118.610676; captureRadius = 10; duration = 104; initialDepth = 111.841544; finalDepth = 122.290431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.483418 # Altitude Set: 82.483418 # Vehicle Depth:111.841544 # Seafloor Depth:-191.797334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 197.96; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 197.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.562697 meters # Minimum depth: 169.754767 meters looking forward 200.000000 meters along route # Maximum depth: 189.719915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 99.754767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851100; longitude = -118.609908; captureRadius = 10; duration = 104; initialDepth = 99.754767; finalDepth = 111.841544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.328756 # Altitude Set: 80.328756 # Vehicle Depth:99.754767 # Seafloor Depth:-180.083523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.79; 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 = 192.79; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 192.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.889842 meters # Minimum depth: 160.460790 meters looking forward 200.000000 meters along route # Maximum depth: 177.155473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 90.460790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851791; longitude = -118.609140; captureRadius = 10; duration = 115; initialDepth = 90.460790; finalDepth = 99.754767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.328756 # Altitude Set: 80.328756 # Vehicle Depth:90.46079 # Seafloor Depth:-169.598451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.79; 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 = 192.79; MB_Bottom_Detect_Filter_Min_Depth = 40.16; MB_Bottom_Detect_Filter_Max_Depth = 192.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.947790 meters # Minimum depth: 152.479522 meters looking forward 200.000000 meters along route # Maximum depth: 167.583677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 82.479522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852557; longitude = -118.608289; captureRadius = 10; duration = 101; initialDepth = 82.479522; finalDepth = 90.460790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.137661 # Altitude Set: 79.137661 # Vehicle Depth:82.479522 # Seafloor Depth:-159.463672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 189.93; MB_Bottom_Detect_Filter_Min_Depth = 39.57; MB_Bottom_Detect_Filter_Max_Depth = 189.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 74.566336 meters # Minimum depth: 146.483818 meters looking forward 200.000000 meters along route # Maximum depth: 160.460790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 76.483818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853231; longitude = -118.607540; captureRadius = 10; duration = 74; initialDepth = 76.483818; finalDepth = 82.479522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.98415 # Altitude Set: 76.98415 # Vehicle Depth:76.483818 # Seafloor Depth:-151.851705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 184.76; MB_Bottom_Detect_Filter_Min_Depth = 38.49; MB_Bottom_Detect_Filter_Max_Depth = 184.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.680985 meters # Minimum depth: 134.143360 meters looking forward 200.000000 meters along route # Maximum depth: 152.546083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 64.143360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853647; longitude = -118.606906; captureRadius = 10; duration = 101; initialDepth = 64.143360; finalDepth = 76.483818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.89569 # Altitude Set: 79.89569 # Vehicle Depth:64.14336 # Seafloor Depth:-144.039050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.95; MB_Bottom_Detect_Filter_Max_Range = 191.75; MB_Bottom_Detect_Filter_Min_Depth = 39.95; MB_Bottom_Detect_Filter_Max_Depth = 191.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.680543 meters # Minimum depth: 123.947130 meters looking forward 200.000000 meters along route # Maximum depth: 143.104346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 53.947130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854213; longitude = -118.606041; captureRadius = 10; duration = 101; initialDepth = 53.947130; finalDepth = 64.143360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.157019 # Altitude Set: 80.157019 # Vehicle Depth:53.94713 # Seafloor Depth:-134.104149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.08; MB_Bottom_Detect_Filter_Max_Range = 192.38; MB_Bottom_Detect_Filter_Min_Depth = 40.08; MB_Bottom_Detect_Filter_Max_Depth = 192.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.680101 meters # Minimum depth: 113.354727 meters looking forward 200.000000 meters along route # Maximum depth: 131.887558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 43.354727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854779; longitude = -118.605177; captureRadius = 10; duration = 101; initialDepth = 43.354727; finalDepth = 53.947130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.157019 # Altitude Set: 80.157019 # Vehicle Depth:43.354727 # Seafloor Depth:-122.883169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.08; MB_Bottom_Detect_Filter_Max_Range = 192.38; MB_Bottom_Detect_Filter_Min_Depth = 40.08; MB_Bottom_Detect_Filter_Max_Depth = 192.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.674439 meters # Minimum depth: 97.154733 meters looking forward 200.000000 meters along route # Maximum depth: 120.478165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 27.154733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855345; longitude = -118.604313; captureRadius = 10; duration = 106; initialDepth = 27.154733; finalDepth = 43.354727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.129141 # Altitude Set: 84.129141 # Vehicle Depth:27.154733 # Seafloor Depth:-111.283874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.91; 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 = 201.91; MB_Bottom_Detect_Filter_Min_Depth = 42.06; MB_Bottom_Detect_Filter_Max_Depth = 201.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.463038 meters # Minimum depth: 91.112578 meters looking forward 200.000000 meters along route # Maximum depth: 109.402064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 21.112578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855939; longitude = -118.603406; captureRadius = 10; duration = 103; initialDepth = 21.112578; finalDepth = 27.154733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.129141 # Altitude Set: 84.129141 # Vehicle Depth:21.112578 # Seafloor Depth:-96.666445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.91; 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 = 201.91; MB_Bottom_Detect_Filter_Min_Depth = 42.06; MB_Bottom_Detect_Filter_Max_Depth = 201.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 75.553867 # Altitude Set: 75.553867 # Vehicle Depth:20.887472 # Seafloor Depth:-90.887472 # behavior reson { duration = RESON_DURATION; 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 = 181.33; 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 = 181.33; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 181.33; 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: 90.887472 meters looking forward 200.000000 meters along route # Maximum depth: 109.402064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 20.887472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856516; longitude = -118.602527; captureRadius = 10; duration = 500; initialDepth = 20.887472; finalDepth = 21.112578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 232.752282; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 232.752282; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = RESON_DURATION; 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 = 60.00; 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 = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################