# 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: SMBSurveyPlan06.rte # Mission File: SMBSurveyPlan06.cfg # Distance: 35072.872849 (m) # Estimated Time: 26496 (s) 7.360 (hr) # Abort Time: 34444 (s) # Way Points: 18 # Route Points: 319 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 72 (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 -118.551824 33.842745 -89.285767 0.000000 3 # 1 -118.550153 33.795326 -476.256755 5261.184106 1 # 2 -118.547041 33.773720 -614.059001 7674.651785 1 # 3 -118.542157 33.742068 -677.840851 11213.922218 4 # 4 -118.540443 33.742247 -679.440292 11373.922218 3 # 5 -118.545226 33.774110 -618.959457 14935.164252 4 # 6 -118.543512 33.774289 -614.021164 15095.164252 3 # 7 -118.538729 33.742427 -697.216766 18656.406286 4 # 8 -118.537016 33.742606 -703.026672 18816.406286 3 # 9 -118.541798 33.774469 -612.990097 22377.648321 4 # 10 -118.540084 33.774648 -609.818115 22537.648321 3 # 11 -118.535302 33.742786 -704.285355 26098.890355 4 # 12 -118.533589 33.742965 -695.948746 26258.890355 3 # 13 -118.538370 33.774828 -632.127274 29820.132389 4 # 14 -118.536656 33.775007 -625.376709 29980.132389 3 # 15 -118.533328 33.753726 -669.791504 32360.220723 1 # 16 -118.546350 33.753669 -654.849976 33566.507897 4 # 17 -118.534942 33.763348 -640.377645 35072.872849 1 # # A total of 319 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 34444; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 850.000000; abortDepth = 870.000000; minAltitude = 20.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3000; horizontalMode = rudder; horizontal = 5.000000; pitch = 20.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 89.662123 meters # Minimum depth: 640.377645 meters looking forward 200.000000 meters along route # Maximum depth: 641.040672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.377645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763348; longitude = -118.534942; captureRadius = 10; duration = 89; initialDepth = 568.377645; finalDepth = 568.377645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72 # Altitude Set: 72 # Vehicle Depth:568.377645 # Seafloor Depth:-640.377645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.00; MB_Bottom_Detect_Filter_Max_Range = 172.80; MB_Bottom_Detect_Filter_Min_Depth = 36.00; MB_Bottom_Detect_Filter_Max_Depth = 172.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.594957 meters # Minimum depth: 640.377645 meters looking forward 200.000000 meters along route # Maximum depth: 641.231940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.377645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762772; longitude = -118.535621; captureRadius = 10; duration = 107; initialDepth = 568.377645; finalDepth = 568.377645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.703859 # Altitude Set: 72.703859 # Vehicle Depth:568.377645 # Seafloor Depth:-641.081504 # behavior reson { duration = 6; 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 17 # Segment length 107.595406 meters # Minimum depth: 641.106739 meters looking forward 200.000000 meters along route # Maximum depth: 645.269416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 569.106739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762081; longitude = -118.536436; captureRadius = 10; duration = 107; initialDepth = 569.106739; finalDepth = 568.377645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.703859 # Altitude Set: 72.703859 # Vehicle Depth:569.106739 # Seafloor Depth:-641.284595 # behavior reson { duration = 6; 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 17 # Segment length 113.573415 meters # Minimum depth: 641.699002 meters looking forward 200.000000 meters along route # Maximum depth: 650.738450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 569.699002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761390; longitude = -118.537251; captureRadius = 10; duration = 113; initialDepth = 569.699002; finalDepth = 569.106739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.6035830000001 # Altitude Set: 75.6035830000001 # Vehicle Depth:569.699002 # Seafloor Depth:-645.302585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 181.45; MB_Bottom_Detect_Filter_Min_Depth = 37.80; MB_Bottom_Detect_Filter_Max_Depth = 181.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.618741 meters # Minimum depth: 646.664424 meters looking forward 200.000000 meters along route # Maximum depth: 652.349167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 574.664424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760660; longitude = -118.538111; captureRadius = 10; duration = 101; initialDepth = 574.664424; finalDepth = 569.699002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.284374 # Altitude Set: 76.284374 # Vehicle Depth:574.664424 # Seafloor Depth:-650.948798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.14; MB_Bottom_Detect_Filter_Max_Range = 183.08; MB_Bottom_Detect_Filter_Min_Depth = 38.14; MB_Bottom_Detect_Filter_Max_Depth = 183.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.596750 meters # Minimum depth: 651.558685 meters looking forward 200.000000 meters along route # Maximum depth: 652.758286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.558685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760007; longitude = -118.538880; captureRadius = 10; duration = 107; initialDepth = 579.558685; finalDepth = 574.664424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.284374 # Altitude Set: 76.284374 # Vehicle Depth:579.558685 # Seafloor Depth:-652.413590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.14; MB_Bottom_Detect_Filter_Max_Range = 183.08; MB_Bottom_Detect_Filter_Min_Depth = 38.14; MB_Bottom_Detect_Filter_Max_Depth = 183.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 110.314304 meters # Minimum depth: 651.556920 meters looking forward 200.000000 meters along route # Maximum depth: 652.758286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.556920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759315; longitude = -118.539695; captureRadius = 10; duration = 110; initialDepth = 579.556920; finalDepth = 579.558685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.854905 # Altitude Set: 72.854905 # Vehicle Depth:579.55692 # Seafloor Depth:-652.360677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.85; 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 = 174.85; MB_Bottom_Detect_Filter_Min_Depth = 36.43; MB_Bottom_Detect_Filter_Max_Depth = 174.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.880539 meters # Minimum depth: 651.248303 meters looking forward 200.000000 meters along route # Maximum depth: 652.165562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.248303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758606; longitude = -118.540531; captureRadius = 10; duration = 104; initialDepth = 579.248303; finalDepth = 579.556920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.803757 # Altitude Set: 72.803757 # Vehicle Depth:579.248303 # Seafloor Depth:-651.541489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.40; MB_Bottom_Detect_Filter_Max_Range = 174.73; MB_Bottom_Detect_Filter_Min_Depth = 36.40; MB_Bottom_Detect_Filter_Max_Depth = 174.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.598094 meters # Minimum depth: 650.278320 meters looking forward 200.000000 meters along route # Maximum depth: 651.440874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 578.278320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757932; longitude = -118.541325; captureRadius = 10; duration = 107; initialDepth = 578.278320; finalDepth = 579.248303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.931548 # Altitude Set: 72.931548 # Vehicle Depth:578.27832 # Seafloor Depth:-651.209868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.47; MB_Bottom_Detect_Filter_Max_Range = 175.04; MB_Bottom_Detect_Filter_Min_Depth = 36.47; MB_Bottom_Detect_Filter_Max_Depth = 175.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.598542 meters # Minimum depth: 650.278320 meters looking forward 200.000000 meters along route # Maximum depth: 652.243003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 578.278320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757241; longitude = -118.542140; captureRadius = 10; duration = 107; initialDepth = 578.278320; finalDepth = 578.278320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.931548 # Altitude Set: 72.931548 # Vehicle Depth:578.27832 # Seafloor Depth:-650.611053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.47; MB_Bottom_Detect_Filter_Max_Range = 175.04; MB_Bottom_Detect_Filter_Min_Depth = 36.47; MB_Bottom_Detect_Filter_Max_Depth = 175.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.576725 meters # Minimum depth: 648.194442 meters looking forward 200.000000 meters along route # Maximum depth: 652.532442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 576.194442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756550; longitude = -118.542955; captureRadius = 10; duration = 113; initialDepth = 576.194442; finalDepth = 578.278320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.062759 # Altitude Set: 76.062759 # Vehicle Depth:576.194442 # Seafloor Depth:-652.257201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 182.55; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 182.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 114.120657 meters # Minimum depth: 643.255356 meters looking forward 200.000000 meters along route # Maximum depth: 652.526175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.255356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755820; longitude = -118.543815; captureRadius = 10; duration = 114; initialDepth = 571.255356; finalDepth = 576.194442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.417821 # Altitude Set: 76.417821 # Vehicle Depth:571.255356 # Seafloor Depth:-647.673177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 183.40; MB_Bottom_Detect_Filter_Min_Depth = 38.21; MB_Bottom_Detect_Filter_Max_Depth = 183.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 114.121161 meters # Minimum depth: 643.255356 meters looking forward 200.000000 meters along route # Maximum depth: 648.780426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.255356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755087; longitude = -118.544679; captureRadius = 10; duration = 114; initialDepth = 571.255356; finalDepth = 571.255356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.417821 # Altitude Set: 76.417821 # Vehicle Depth:571.255356 # Seafloor Depth:-644.324619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 183.40; MB_Bottom_Detect_Filter_Min_Depth = 38.21; MB_Bottom_Detect_Filter_Max_Depth = 183.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.513538 meters # Minimum depth: 645.427672 meters looking forward 200.000000 meters along route # Maximum depth: 654.146804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 573.427672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754353; longitude = -118.545543; captureRadius = 10; duration = 106; initialDepth = 573.427672; finalDepth = 571.255356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.119163 # Altitude Set: 76.119163 # Vehicle Depth:573.427672 # Seafloor Depth:-649.546835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.06; MB_Bottom_Detect_Filter_Max_Range = 182.69; MB_Bottom_Detect_Filter_Min_Depth = 38.06; MB_Bottom_Detect_Filter_Max_Depth = 182.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 90.738622 meters # Minimum depth: 649.546835 meters looking forward 200.000000 meters along route # Maximum depth: 654.992597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 577.546835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753669; longitude = -118.546350; captureRadius = 10; duration = 90; initialDepth = 577.546835; finalDepth = 573.427672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.303141 # Altitude Set: 77.303141 # Vehicle Depth:577.546835 # Seafloor Depth:-654.849976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 185.53; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 185.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088839 meters # Minimum depth: 654.069034 meters looking forward 200.000000 meters along route # Maximum depth: 655.175698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 582.069034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753673; longitude = -118.545370; captureRadius = 10; duration = 112; initialDepth = 582.069034; finalDepth = 577.546835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.303141 # Altitude Set: 77.303141 # Vehicle Depth:582.069034 # Seafloor Depth:-655.175698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 185.53; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 185.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088789 meters # Minimum depth: 653.145670 meters looking forward 200.000000 meters along route # Maximum depth: 655.660449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 581.145670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753678; longitude = -118.544160; captureRadius = 10; duration = 112; initialDepth = 581.145670; finalDepth = 582.069034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.106664 # Altitude Set: 73.106664 # Vehicle Depth:581.14567 # Seafloor Depth:-653.865026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.46; 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 = 175.46; MB_Bottom_Detect_Filter_Min_Depth = 36.55; MB_Bottom_Detect_Filter_Max_Depth = 175.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088737 meters # Minimum depth: 653.145670 meters looking forward 200.000000 meters along route # Maximum depth: 677.738248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 581.145670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753684; longitude = -118.542951; captureRadius = 10; duration = 112; initialDepth = 581.145670; finalDepth = 581.145670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8771390000001 # Altitude Set: 76.8771390000001 # Vehicle Depth:581.14567 # Seafloor Depth:-658.022809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 184.51; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 184.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088686 meters # Minimum depth: 666.393796 meters looking forward 200.000000 meters along route # Maximum depth: 678.302506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 594.393796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753689; longitude = -118.541741; captureRadius = 10; duration = 112; initialDepth = 594.393796; finalDepth = 581.145670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.90871 # Altitude Set: 83.90871 # Vehicle Depth:594.393796 # Seafloor Depth:-678.302506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 41.95; MB_Bottom_Detect_Filter_Max_Depth = 201.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088634 meters # Minimum depth: 667.485413 meters looking forward 200.000000 meters along route # Maximum depth: 677.017513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 595.485413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753695; longitude = -118.540531; captureRadius = 10; duration = 112; initialDepth = 595.485413; finalDepth = 594.393796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.90871 # Altitude Set: 83.90871 # Vehicle Depth:595.485413 # Seafloor Depth:-677.017513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 41.95; MB_Bottom_Detect_Filter_Max_Depth = 201.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088584 meters # Minimum depth: 662.491825 meters looking forward 200.000000 meters along route # Maximum depth: 674.643461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 590.491825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753700; longitude = -118.539321; captureRadius = 10; duration = 112; initialDepth = 590.491825; finalDepth = 595.485413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.5321 # Altitude Set: 81.5321 # Vehicle Depth:590.491825 # Seafloor Depth:-665.791205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.77; MB_Bottom_Detect_Filter_Max_Range = 195.68; MB_Bottom_Detect_Filter_Min_Depth = 40.77; MB_Bottom_Detect_Filter_Max_Depth = 195.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088532 meters # Minimum depth: 662.491825 meters looking forward 200.000000 meters along route # Maximum depth: 669.523418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 590.491825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753705; longitude = -118.538111; captureRadius = 10; duration = 112; initialDepth = 590.491825; finalDepth = 590.491825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.29938 # Altitude Set: 75.29938 # Vehicle Depth:590.491825 # Seafloor Depth:-664.452717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 180.72; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088482 meters # Minimum depth: 666.291305 meters looking forward 200.000000 meters along route # Maximum depth: 672.392363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 594.291305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753711; longitude = -118.536901; captureRadius = 10; duration = 112; initialDepth = 594.291305; finalDepth = 590.491825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.594478 # Altitude Set: 75.594478 # Vehicle Depth:594.291305 # Seafloor Depth:-669.885783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 181.43; MB_Bottom_Detect_Filter_Min_Depth = 37.80; MB_Bottom_Detect_Filter_Max_Depth = 181.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.088430 meters # Minimum depth: 671.085817 meters looking forward 200.000000 meters along route # Maximum depth: 672.692311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 599.085817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753716; longitude = -118.535691; captureRadius = 10; duration = 112; initialDepth = 599.085817; finalDepth = 594.291305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.594478 # Altitude Set: 75.594478 # Vehicle Depth:599.085817 # Seafloor Depth:-672.335864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 181.43; MB_Bottom_Detect_Filter_Min_Depth = 37.80; MB_Bottom_Detect_Filter_Max_Depth = 181.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.750839 meters # Minimum depth: 669.484673 meters looking forward 200.000000 meters along route # Maximum depth: 672.692311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 597.484673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753721; longitude = -118.534481; captureRadius = 10; duration = 106; initialDepth = 597.484673; finalDepth = 599.085817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.164997 # Altitude Set: 75.164997 # Vehicle Depth:597.484673 # Seafloor Depth:-672.649670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.40; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 103.105404 meters # Minimum depth: 668.140922 meters looking forward 200.000000 meters along route # Maximum depth: 672.259181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 596.140922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753726; longitude = -118.533328; captureRadius = 10; duration = 103; initialDepth = 596.140922; finalDepth = 597.484673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.164997 # Altitude Set: 75.164997 # Vehicle Depth:596.140922 # Seafloor Depth:-669.791504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.40; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993580 meters # Minimum depth: 664.310294 meters looking forward 200.000000 meters along route # Maximum depth: 668.713714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 592.310294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754648; longitude = -118.533473; captureRadius = 10; duration = 115; initialDepth = 592.310294; finalDepth = 596.140922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.38338 # Altitude Set: 75.38338 # Vehicle Depth:592.310294 # Seafloor Depth:-667.693674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 180.92; MB_Bottom_Detect_Filter_Min_Depth = 37.69; MB_Bottom_Detect_Filter_Max_Depth = 180.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.629731 meters # Minimum depth: 660.990801 meters looking forward 200.000000 meters along route # Maximum depth: 666.580633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 588.990801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755685; longitude = -118.533635; captureRadius = 10; duration = 110; initialDepth = 588.990801; finalDepth = 592.310294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.38338 # Altitude Set: 75.38338 # Vehicle Depth:588.990801 # Seafloor Depth:-663.862403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 180.92; MB_Bottom_Detect_Filter_Min_Depth = 37.69; MB_Bottom_Detect_Filter_Max_Depth = 180.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.025170 meters # Minimum depth: 658.597233 meters looking forward 200.000000 meters along route # Maximum depth: 663.195771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 586.597233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756675; longitude = -118.533789; captureRadius = 10; duration = 102; initialDepth = 586.597233; finalDepth = 588.990801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8716019999999 # Altitude Set: 74.8716019999999 # Vehicle Depth:586.597233 # Seafloor Depth:-660.604309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.69; 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 = 179.69; MB_Bottom_Detect_Filter_Min_Depth = 37.44; MB_Bottom_Detect_Filter_Max_Depth = 179.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993584 meters # Minimum depth: 655.526854 meters looking forward 200.000000 meters along route # Maximum depth: 659.948765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 583.526854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757587; longitude = -118.533932; captureRadius = 10; duration = 115; initialDepth = 583.526854; finalDepth = 586.597233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.6307780000001 # Altitude Set: 74.6307780000001 # Vehicle Depth:583.526854 # Seafloor Depth:-658.157632 # behavior reson { duration = 6; 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 15 # Segment length 115.993586 meters # Minimum depth: 652.796963 meters looking forward 200.000000 meters along route # Maximum depth: 657.086359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.796963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758624; longitude = -118.534094; captureRadius = 10; duration = 115; initialDepth = 580.796963; finalDepth = 583.526854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.6307780000001 # Altitude Set: 74.6307780000001 # Vehicle Depth:580.796963 # Seafloor Depth:-655.150333 # behavior reson { duration = 6; 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 15 # Segment length 115.993586 meters # Minimum depth: 649.374668 meters looking forward 200.000000 meters along route # Maximum depth: 654.368278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 577.374668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759661; longitude = -118.534256; captureRadius = 10; duration = 115; initialDepth = 577.374668; finalDepth = 580.796963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8267979999999 # Altitude Set: 74.8267979999999 # Vehicle Depth:577.374668 # Seafloor Depth:-652.201466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.41; MB_Bottom_Detect_Filter_Max_Range = 179.58; MB_Bottom_Detect_Filter_Min_Depth = 37.41; MB_Bottom_Detect_Filter_Max_Depth = 179.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993587 meters # Minimum depth: 645.624431 meters looking forward 200.000000 meters along route # Maximum depth: 651.170675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 573.624431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760698; longitude = -118.534418; captureRadius = 10; duration = 115; initialDepth = 573.624431; finalDepth = 577.374668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.226522 # Altitude Set: 75.226522 # Vehicle Depth:573.624431 # Seafloor Depth:-648.850953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 180.54; MB_Bottom_Detect_Filter_Min_Depth = 37.61; MB_Bottom_Detect_Filter_Max_Depth = 180.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993589 meters # Minimum depth: 643.598896 meters looking forward 200.000000 meters along route # Maximum depth: 647.712271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.598896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761735; longitude = -118.534581; captureRadius = 10; duration = 115; initialDepth = 571.598896; finalDepth = 573.624431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.226522 # Altitude Set: 75.226522 # Vehicle Depth:571.598896 # Seafloor Depth:-645.009544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 180.54; MB_Bottom_Detect_Filter_Min_Depth = 37.61; MB_Bottom_Detect_Filter_Max_Depth = 180.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993590 meters # Minimum depth: 638.728871 meters looking forward 200.000000 meters along route # Maximum depth: 644.126425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 566.728871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762772; longitude = -118.534743; captureRadius = 10; duration = 115; initialDepth = 566.728871; finalDepth = 571.598896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.6328129999999 # Altitude Set: 76.6328129999999 # Vehicle Depth:566.728871 # Seafloor Depth:-643.361684 # behavior reson { duration = 6; 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 15 # Segment length 115.993591 meters # Minimum depth: 633.708501 meters looking forward 200.000000 meters along route # Maximum depth: 642.136201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 561.708501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763809; longitude = -118.534905; captureRadius = 10; duration = 115; initialDepth = 561.708501; finalDepth = 566.728871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.6328129999999 # Altitude Set: 76.6328129999999 # Vehicle Depth:561.708501 # Seafloor Depth:-637.481757 # behavior reson { duration = 6; 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 15 # Segment length 115.993592 meters # Minimum depth: 630.229821 meters looking forward 200.000000 meters along route # Maximum depth: 635.495137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.229821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764847; longitude = -118.535067; captureRadius = 10; duration = 115; initialDepth = 558.229821; finalDepth = 561.708501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.7732560000001 # Altitude Set: 75.7732560000001 # Vehicle Depth:558.229821 # Seafloor Depth:-633.467125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.89; MB_Bottom_Detect_Filter_Max_Range = 181.86; MB_Bottom_Detect_Filter_Min_Depth = 37.89; MB_Bottom_Detect_Filter_Max_Depth = 181.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993594 meters # Minimum depth: 624.356710 meters looking forward 200.000000 meters along route # Maximum depth: 633.007397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 552.356710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765884; longitude = -118.535229; captureRadius = 10; duration = 115; initialDepth = 552.356710; finalDepth = 558.229821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.326863 # Altitude Set: 76.326863 # Vehicle Depth:552.35671 # Seafloor Depth:-628.683573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 183.18; MB_Bottom_Detect_Filter_Min_Depth = 38.16; MB_Bottom_Detect_Filter_Max_Depth = 183.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993594 meters # Minimum depth: 622.442079 meters looking forward 200.000000 meters along route # Maximum depth: 625.955792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 550.442079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766921; longitude = -118.535391; captureRadius = 10; duration = 115; initialDepth = 550.442079; finalDepth = 552.356710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.326863 # Altitude Set: 76.326863 # Vehicle Depth:550.442079 # Seafloor Depth:-624.492964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 183.18; MB_Bottom_Detect_Filter_Min_Depth = 38.16; MB_Bottom_Detect_Filter_Max_Depth = 183.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993596 meters # Minimum depth: 615.701145 meters looking forward 200.000000 meters along route # Maximum depth: 624.485919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.701145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767958; longitude = -118.535553; captureRadius = 10; duration = 115; initialDepth = 543.701145; finalDepth = 550.442079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.958547 # Altitude Set: 77.958547 # Vehicle Depth:543.701145 # Seafloor Depth:-621.659692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 187.10; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 187.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.824680 meters # Minimum depth: 612.511500 meters looking forward 200.000000 meters along route # Maximum depth: 619.812720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 540.511500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768995; longitude = -118.535716; captureRadius = 10; duration = 105; initialDepth = 540.511500; finalDepth = 543.701145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.958547 # Altitude Set: 77.958547 # Vehicle Depth:540.5115 # Seafloor Depth:-614.419522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 187.10; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 187.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.830249 meters # Minimum depth: 612.511500 meters looking forward 200.000000 meters along route # Maximum depth: 616.948832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 540.511500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769941; longitude = -118.535864; captureRadius = 10; duration = 106; initialDepth = 540.511500; finalDepth = 540.511500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.358502 # Altitude Set: 74.358502 # Vehicle Depth:540.5115 # Seafloor Depth:-614.870002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.46; 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 = 178.46; MB_Bottom_Detect_Filter_Min_Depth = 37.18; MB_Bottom_Detect_Filter_Max_Depth = 178.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993599 meters # Minimum depth: 615.435034 meters looking forward 200.000000 meters along route # Maximum depth: 634.527714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.435034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770896; longitude = -118.536013; captureRadius = 10; duration = 115; initialDepth = 543.435034; finalDepth = 540.511500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.094114 # Altitude Set: 75.094114 # Vehicle Depth:543.435034 # Seafloor Depth:-618.529148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.55; MB_Bottom_Detect_Filter_Max_Range = 180.23; MB_Bottom_Detect_Filter_Min_Depth = 37.55; MB_Bottom_Detect_Filter_Max_Depth = 180.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993600 meters # Minimum depth: 625.065997 meters looking forward 200.000000 meters along route # Maximum depth: 639.954993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.065997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771933; longitude = -118.536175; captureRadius = 10; duration = 115; initialDepth = 553.065997; finalDepth = 543.435034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.4299209999999 # Altitude Set: 83.4299209999999 # Vehicle Depth:553.065997 # Seafloor Depth:-636.495918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.71; MB_Bottom_Detect_Filter_Max_Range = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 41.71; MB_Bottom_Detect_Filter_Max_Depth = 200.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.993601 meters # Minimum depth: 632.297372 meters looking forward 200.000000 meters along route # Maximum depth: 639.954993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 560.297372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772971; longitude = -118.536337; captureRadius = 10; duration = 115; initialDepth = 560.297372; finalDepth = 553.065997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.4299209999999 # Altitude Set: 83.4299209999999 # Vehicle Depth:560.297372 # Seafloor Depth:-639.069759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.71; MB_Bottom_Detect_Filter_Max_Range = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 41.71; MB_Bottom_Detect_Filter_Max_Depth = 200.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 111.769231 meters # Minimum depth: 625.618393 meters looking forward 200.000000 meters along route # Maximum depth: 637.362137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.618393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774008; longitude = -118.536499; captureRadius = 10; duration = 111; initialDepth = 553.618393; finalDepth = 560.297372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.772387 # Altitude Set: 78.772387 # Vehicle Depth:553.618393 # Seafloor Depth:-630.502656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.05; 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 = 189.05; MB_Bottom_Detect_Filter_Min_Depth = 39.39; MB_Bottom_Detect_Filter_Max_Depth = 189.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 55.142033 meters # Minimum depth: 625.376709 meters looking forward 200.000000 meters along route # Maximum depth: 632.297372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.376709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.775007; longitude = -118.536656; captureRadius = 10; duration = 55; initialDepth = 553.376709; finalDepth = 553.618393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.884263 # Altitude Set: 76.884263 # Vehicle Depth:553.376709 # Seafloor Depth:-625.376709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 184.52; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 184.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.857967 meters # Minimum depth: 625.376709 meters looking forward 200.000000 meters along route # Maximum depth: 632.716807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.376709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774945; longitude = -118.537246; captureRadius = 10; duration = 104; initialDepth = 553.376709; finalDepth = 553.376709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.135601 # Altitude Set: 75.135601 # Vehicle Depth:553.376709 # Seafloor Depth:-628.512310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 180.33; MB_Bottom_Detect_Filter_Min_Depth = 37.57; MB_Bottom_Detect_Filter_Max_Depth = 180.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 33.680612 meters # Minimum depth: 625.376709 meters looking forward 200.000000 meters along route # Maximum depth: 632.716807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.376709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774828; longitude = -118.538370; captureRadius = 10; duration = 33; initialDepth = 553.376709; finalDepth = 553.376709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.7505650000001 # Altitude Set: 78.7505650000001 # Vehicle Depth:553.376709 # Seafloor Depth:-632.127274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.00; 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 = 189.00; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 189.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916899 meters # Minimum depth: 632.127274 meters looking forward 200.000000 meters along route # Maximum depth: 634.034517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 560.127274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774526; longitude = -118.538325; captureRadius = 10; duration = 115; initialDepth = 560.127274; finalDepth = 553.376709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.7505650000001 # Altitude Set: 78.7505650000001 # Vehicle Depth:560.127274 # Seafloor Depth:-632.887790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.00; 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 = 189.00; MB_Bottom_Detect_Filter_Min_Depth = 39.38; MB_Bottom_Detect_Filter_Max_Depth = 189.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916896 meters # Minimum depth: 633.404156 meters looking forward 200.000000 meters along route # Maximum depth: 635.146084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 561.404156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773489; longitude = -118.538169; captureRadius = 10; duration = 115; initialDepth = 561.404156; finalDepth = 560.127274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.856532 # Altitude Set: 72.856532 # Vehicle Depth:561.404156 # Seafloor Depth:-634.260688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.86; 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 = 174.86; MB_Bottom_Detect_Filter_Min_Depth = 36.43; MB_Bottom_Detect_Filter_Max_Depth = 174.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916893 meters # Minimum depth: 626.558185 meters looking forward 200.000000 meters along route # Maximum depth: 635.146084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 554.558185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772452; longitude = -118.538013; captureRadius = 10; duration = 115; initialDepth = 554.558185; finalDepth = 561.404156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.037228 # Altitude Set: 80.037228 # Vehicle Depth:554.558185 # Seafloor Depth:-634.595413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.02; MB_Bottom_Detect_Filter_Max_Range = 192.09; MB_Bottom_Detect_Filter_Min_Depth = 40.02; MB_Bottom_Detect_Filter_Max_Depth = 192.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916890 meters # Minimum depth: 612.740879 meters looking forward 200.000000 meters along route # Maximum depth: 632.632776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 540.740879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771415; longitude = -118.537858; captureRadius = 10; duration = 115; initialDepth = 540.740879; finalDepth = 554.558185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.958653 # Altitude Set: 82.958653 # Vehicle Depth:540.740879 # Seafloor Depth:-623.699532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.48; MB_Bottom_Detect_Filter_Max_Range = 199.10; MB_Bottom_Detect_Filter_Min_Depth = 41.48; MB_Bottom_Detect_Filter_Max_Depth = 199.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916888 meters # Minimum depth: 611.529264 meters looking forward 200.000000 meters along route # Maximum depth: 618.830747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 539.529264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770378; longitude = -118.537702; captureRadius = 10; duration = 115; initialDepth = 539.529264; finalDepth = 540.740879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.958653 # Altitude Set: 82.958653 # Vehicle Depth:539.529264 # Seafloor Depth:-611.773822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.48; MB_Bottom_Detect_Filter_Max_Range = 199.10; MB_Bottom_Detect_Filter_Min_Depth = 41.48; MB_Bottom_Detect_Filter_Max_Depth = 199.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916885 meters # Minimum depth: 611.783778 meters looking forward 200.000000 meters along route # Maximum depth: 619.830034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 539.783778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769341; longitude = -118.537546; captureRadius = 10; duration = 115; initialDepth = 539.783778; finalDepth = 539.529264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.485575 # Altitude Set: 76.485575 # Vehicle Depth:539.783778 # Seafloor Depth:-616.269353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.57; 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 = 183.57; MB_Bottom_Detect_Filter_Min_Depth = 38.24; MB_Bottom_Detect_Filter_Max_Depth = 183.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.620423 meters # Minimum depth: 618.100700 meters looking forward 200.000000 meters along route # Maximum depth: 623.599968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.100700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768304; longitude = -118.537391; captureRadius = 10; duration = 107; initialDepth = 546.100700; finalDepth = 539.783778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.485575 # Altitude Set: 76.485575 # Vehicle Depth:546.1007 # Seafloor Depth:-620.317879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.57; 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 = 183.57; MB_Bottom_Detect_Filter_Min_Depth = 38.24; MB_Bottom_Detect_Filter_Max_Depth = 183.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.893858 meters # Minimum depth: 621.004840 meters looking forward 200.000000 meters along route # Maximum depth: 623.599968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.004840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767341; longitude = -118.537246; captureRadius = 10; duration = 104; initialDepth = 549.004840; finalDepth = 546.100700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5024440000001 # Altitude Set: 74.5024440000001 # Vehicle Depth:549.00484 # Seafloor Depth:-623.507284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.25; MB_Bottom_Detect_Filter_Max_Range = 178.81; MB_Bottom_Detect_Filter_Min_Depth = 37.25; MB_Bottom_Detect_Filter_Max_Depth = 178.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916877 meters # Minimum depth: 622.832312 meters looking forward 200.000000 meters along route # Maximum depth: 629.344547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 550.832312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766402; longitude = -118.537106; captureRadius = 10; duration = 115; initialDepth = 550.832312; finalDepth = 549.004840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5024440000001 # Altitude Set: 74.5024440000001 # Vehicle Depth:550.832312 # Seafloor Depth:-624.034415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.25; MB_Bottom_Detect_Filter_Max_Range = 178.81; MB_Bottom_Detect_Filter_Min_Depth = 37.25; MB_Bottom_Detect_Filter_Max_Depth = 178.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916874 meters # Minimum depth: 626.085127 meters looking forward 200.000000 meters along route # Maximum depth: 632.845448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 554.085127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765365; longitude = -118.536950; captureRadius = 10; duration = 115; initialDepth = 554.085127; finalDepth = 550.832312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8585849999999 # Altitude Set: 75.8585849999999 # Vehicle Depth:554.085127 # Seafloor Depth:-629.943712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.06; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916872 meters # Minimum depth: 630.658691 meters looking forward 200.000000 meters along route # Maximum depth: 636.840319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.658691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764328; longitude = -118.536794; captureRadius = 10; duration = 115; initialDepth = 558.658691; finalDepth = 554.085127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8585849999999 # Altitude Set: 75.8585849999999 # Vehicle Depth:558.658691 # Seafloor Depth:-633.628533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.06; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916868 meters # Minimum depth: 634.935992 meters looking forward 200.000000 meters along route # Maximum depth: 640.405516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 562.935992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763291; longitude = -118.536639; captureRadius = 10; duration = 115; initialDepth = 562.935992; finalDepth = 558.658691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.969842 # Altitude Set: 74.969842 # Vehicle Depth:562.935992 # Seafloor Depth:-637.503011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 179.93; MB_Bottom_Detect_Filter_Min_Depth = 37.48; MB_Bottom_Detect_Filter_Max_Depth = 179.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916866 meters # Minimum depth: 638.762510 meters looking forward 200.000000 meters along route # Maximum depth: 643.572592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 566.762510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762254; longitude = -118.536483; captureRadius = 10; duration = 115; initialDepth = 566.762510; finalDepth = 562.935992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.567019 # Altitude Set: 74.567019 # Vehicle Depth:566.76251 # Seafloor Depth:-640.813958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.96; 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 = 178.96; MB_Bottom_Detect_Filter_Min_Depth = 37.28; MB_Bottom_Detect_Filter_Max_Depth = 178.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916863 meters # Minimum depth: 641.774393 meters looking forward 200.000000 meters along route # Maximum depth: 647.370432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 569.774393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761217; longitude = -118.536327; captureRadius = 10; duration = 115; initialDepth = 569.774393; finalDepth = 566.762510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.4743659999999 # Altitude Set: 74.4743659999999 # Vehicle Depth:569.774393 # Seafloor Depth:-644.248759 # behavior reson { duration = 6; 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 13 # Segment length 100.875513 meters # Minimum depth: 644.933620 meters looking forward 200.000000 meters along route # Maximum depth: 650.723735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.933620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760180; longitude = -118.536172; captureRadius = 10; duration = 100; initialDepth = 572.933620; finalDepth = 569.774393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.063315 # Altitude Set: 75.063315 # Vehicle Depth:572.93362 # Seafloor Depth:-647.996935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 180.15; MB_Bottom_Detect_Filter_Min_Depth = 37.53; MB_Bottom_Detect_Filter_Max_Depth = 180.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.638729 meters # Minimum depth: 648.614461 meters looking forward 200.000000 meters along route # Maximum depth: 651.717334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 576.614461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759277; longitude = -118.536036; captureRadius = 10; duration = 111; initialDepth = 576.614461; finalDepth = 572.933620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.063315 # Altitude Set: 75.063315 # Vehicle Depth:576.614461 # Seafloor Depth:-650.793665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 180.15; MB_Bottom_Detect_Filter_Min_Depth = 37.53; MB_Bottom_Detect_Filter_Max_Depth = 180.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916855 meters # Minimum depth: 651.297509 meters looking forward 200.000000 meters along route # Maximum depth: 654.138262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.297509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758278; longitude = -118.535887; captureRadius = 10; duration = 115; initialDepth = 579.297509; finalDepth = 576.614461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.179204 # Altitude Set: 74.179204 # Vehicle Depth:579.297509 # Seafloor Depth:-652.005383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 178.03; MB_Bottom_Detect_Filter_Min_Depth = 37.09; MB_Bottom_Detect_Filter_Max_Depth = 178.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916853 meters # Minimum depth: 652.699856 meters looking forward 200.000000 meters along route # Maximum depth: 660.238585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.699856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757241; longitude = -118.535731; captureRadius = 10; duration = 115; initialDepth = 580.699856; finalDepth = 579.297509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.835242 # Altitude Set: 73.835242 # Vehicle Depth:580.699856 # Seafloor Depth:-654.535098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.92; MB_Bottom_Detect_Filter_Max_Range = 177.20; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916849 meters # Minimum depth: 655.452098 meters looking forward 200.000000 meters along route # Maximum depth: 668.627869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 583.452098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756204; longitude = -118.535575; captureRadius = 10; duration = 115; initialDepth = 583.452098; finalDepth = 580.699856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.210206 # Altitude Set: 78.210206 # Vehicle Depth:583.452098 # Seafloor Depth:-661.662304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 187.70; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 187.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916847 meters # Minimum depth: 664.458333 meters looking forward 200.000000 meters along route # Maximum depth: 671.171878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 592.458333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755167; longitude = -118.535420; captureRadius = 10; duration = 115; initialDepth = 592.458333; finalDepth = 583.452098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.210206 # Altitude Set: 78.210206 # Vehicle Depth:592.458333 # Seafloor Depth:-670.190973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 187.70; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 187.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916844 meters # Minimum depth: 670.895068 meters looking forward 200.000000 meters along route # Maximum depth: 673.353026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 598.895068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754130; longitude = -118.535264; captureRadius = 10; duration = 115; initialDepth = 598.895068; finalDepth = 592.458333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7326399999999 # Altitude Set: 77.7326399999999 # Vehicle Depth:598.895068 # Seafloor Depth:-671.702847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.87; MB_Bottom_Detect_Filter_Max_Range = 186.56; MB_Bottom_Detect_Filter_Min_Depth = 38.87; MB_Bottom_Detect_Filter_Max_Depth = 186.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916841 meters # Minimum depth: 672.361931 meters looking forward 200.000000 meters along route # Maximum depth: 675.130759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 600.361931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753093; longitude = -118.535108; captureRadius = 10; duration = 115; initialDepth = 600.361931; finalDepth = 598.895068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.547435 # Altitude Set: 73.547435 # Vehicle Depth:600.361931 # Seafloor Depth:-673.909366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 176.51; MB_Bottom_Detect_Filter_Min_Depth = 36.77; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916839 meters # Minimum depth: 674.474850 meters looking forward 200.000000 meters along route # Maximum depth: 677.316362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 602.474850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752056; longitude = -118.534953; captureRadius = 10; duration = 115; initialDepth = 602.474850; finalDepth = 600.361931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.547435 # Altitude Set: 73.547435 # Vehicle Depth:602.47485 # Seafloor Depth:-675.429506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 176.51; MB_Bottom_Detect_Filter_Min_Depth = 36.77; MB_Bottom_Detect_Filter_Max_Depth = 176.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.966670 meters # Minimum depth: 676.328770 meters looking forward 200.000000 meters along route # Maximum depth: 679.361309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.328770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751018; longitude = -118.534797; captureRadius = 10; duration = 106; initialDepth = 604.328770; finalDepth = 602.474850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1691880000001 # Altitude Set: 73.1691880000001 # Vehicle Depth:604.32877 # Seafloor Depth:-677.497958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.58; MB_Bottom_Detect_Filter_Max_Range = 175.61; MB_Bottom_Detect_Filter_Min_Depth = 36.58; MB_Bottom_Detect_Filter_Max_Depth = 175.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.547527 meters # Minimum depth: 677.737855 meters looking forward 200.000000 meters along route # Maximum depth: 680.072145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 605.737855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750061; longitude = -118.534654; captureRadius = 10; duration = 105; initialDepth = 605.737855; finalDepth = 604.328770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.733285 # Altitude Set: 73.733285 # Vehicle Depth:605.737855 # Seafloor Depth:-679.471140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.96; 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 = 176.96; MB_Bottom_Detect_Filter_Min_Depth = 36.87; MB_Bottom_Detect_Filter_Max_Depth = 176.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916830 meters # Minimum depth: 679.203531 meters looking forward 200.000000 meters along route # Maximum depth: 680.072145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.203531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749117; longitude = -118.534512; captureRadius = 10; duration = 115; initialDepth = 607.203531; finalDepth = 605.737855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.733285 # Altitude Set: 73.733285 # Vehicle Depth:607.203531 # Seafloor Depth:-679.563363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.96; 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 = 176.96; MB_Bottom_Detect_Filter_Min_Depth = 36.87; MB_Bottom_Detect_Filter_Max_Depth = 176.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916828 meters # Minimum depth: 679.210386 meters looking forward 200.000000 meters along route # Maximum depth: 685.493355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.210386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748080; longitude = -118.534356; captureRadius = 10; duration = 115; initialDepth = 607.210386; finalDepth = 607.203531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.482618 # Altitude Set: 72.482618 # Vehicle Depth:607.210386 # Seafloor Depth:-679.693004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.96; 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 = 173.96; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.916826 meters # Minimum depth: 680.999002 meters looking forward 200.000000 meters along route # Maximum depth: 686.322157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 608.999002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747043; longitude = -118.534201; captureRadius = 10; duration = 115; initialDepth = 608.999002; finalDepth = 607.210386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.3231549999999 # Altitude Set: 77.3231549999999 # Vehicle Depth:608.999002 # Seafloor Depth:-686.322157 # behavior reson { duration = 6; 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 13 # Segment length 115.916822 meters # Minimum depth: 684.449455 meters looking forward 200.000000 meters along route # Maximum depth: 688.920938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 612.449455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746006; longitude = -118.534045; captureRadius = 10; duration = 115; initialDepth = 612.449455; finalDepth = 608.999002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.3231549999999 # Altitude Set: 77.3231549999999 # Vehicle Depth:612.449455 # Seafloor Depth:-685.084212 # behavior reson { duration = 6; 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 13 # Segment length 115.916819 meters # Minimum depth: 686.040149 meters looking forward 200.000000 meters along route # Maximum depth: 693.237444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 614.040149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744969; longitude = -118.533889; captureRadius = 10; duration = 115; initialDepth = 614.040149; finalDepth = 612.449455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.562506 # Altitude Set: 75.562506 # Vehicle Depth:614.040149 # Seafloor Depth:-689.602655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.35; 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 = 181.35; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 181.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.014078 meters # Minimum depth: 691.176161 meters looking forward 200.000000 meters along route # Maximum depth: 695.932404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 619.176161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743931; longitude = -118.533734; captureRadius = 10; duration = 108; initialDepth = 619.176161; finalDepth = 614.040149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.562506 # Altitude Set: 75.562506 # Vehicle Depth:619.176161 # Seafloor Depth:-693.567657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.35; 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 = 181.35; MB_Bottom_Detect_Filter_Min_Depth = 37.78; MB_Bottom_Detect_Filter_Max_Depth = 181.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 51.004794 meters # Minimum depth: 692.745219 meters looking forward 200.000000 meters along route # Maximum depth: 698.875374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 620.745219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742965; longitude = -118.533589; captureRadius = 10; duration = 51; initialDepth = 620.745219; finalDepth = 619.176161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.203527 # Altitude Set: 75.203527 # Vehicle Depth:620.745219 # Seafloor Depth:-695.948746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 180.49; MB_Bottom_Detect_Filter_Min_Depth = 37.60; MB_Bottom_Detect_Filter_Max_Depth = 180.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 108.995206 meters # Minimum depth: 695.389550 meters looking forward 200.000000 meters along route # Maximum depth: 704.214175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 623.389550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742908; longitude = -118.534135; captureRadius = 10; duration = 108; initialDepth = 623.389550; finalDepth = 620.745219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.88966 # Altitude Set: 76.88966 # Vehicle Depth:623.38955 # Seafloor Depth:-700.279210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 184.54; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 184.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 50.785940 meters # Minimum depth: 697.673486 meters looking forward 200.000000 meters along route # Maximum depth: 704.285355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 625.673486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742786; longitude = -118.535302; captureRadius = 10; duration = 50; initialDepth = 625.673486; finalDepth = 623.389550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.611869 # Altitude Set: 78.611869 # Vehicle Depth:625.673486 # Seafloor Depth:-704.285355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 188.67; MB_Bottom_Detect_Filter_Min_Depth = 39.31; MB_Bottom_Detect_Filter_Max_Depth = 188.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.716153 meters # Minimum depth: 699.897303 meters looking forward 200.000000 meters along route # Maximum depth: 704.285355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 627.897303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743240; longitude = -118.535371; captureRadius = 10; duration = 109; initialDepth = 627.897303; finalDepth = 625.673486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.611869 # Altitude Set: 78.611869 # Vehicle Depth:627.897303 # Seafloor Depth:-703.480075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 188.67; MB_Bottom_Detect_Filter_Min_Depth = 39.31; MB_Bottom_Detect_Filter_Max_Depth = 188.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.798570 meters # Minimum depth: 691.104346 meters looking forward 200.000000 meters along route # Maximum depth: 702.995560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 619.104346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744222; longitude = -118.535518; captureRadius = 10; duration = 102; initialDepth = 619.104346; finalDepth = 627.897303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.383008 # Altitude Set: 79.383008 # Vehicle Depth:619.104346 # Seafloor Depth:-698.487354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.69; MB_Bottom_Detect_Filter_Max_Range = 190.52; MB_Bottom_Detect_Filter_Min_Depth = 39.69; MB_Bottom_Detect_Filter_Max_Depth = 190.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917125 meters # Minimum depth: 688.565862 meters looking forward 200.000000 meters along route # Maximum depth: 695.741684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 616.565862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745141; longitude = -118.535656; captureRadius = 10; duration = 115; initialDepth = 616.565862; finalDepth = 619.104346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.383008 # Altitude Set: 79.383008 # Vehicle Depth:616.565862 # Seafloor Depth:-690.366914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.69; MB_Bottom_Detect_Filter_Max_Range = 190.52; MB_Bottom_Detect_Filter_Min_Depth = 39.69; MB_Bottom_Detect_Filter_Max_Depth = 190.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917128 meters # Minimum depth: 685.792130 meters looking forward 200.000000 meters along route # Maximum depth: 689.285641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 613.792130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746179; longitude = -118.535812; captureRadius = 10; duration = 115; initialDepth = 613.792130; finalDepth = 616.565862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.806891 # Altitude Set: 74.806891 # Vehicle Depth:613.79213 # Seafloor Depth:-688.599021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.54; 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 = 179.54; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917131 meters # Minimum depth: 681.578885 meters looking forward 200.000000 meters along route # Maximum depth: 688.093483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 609.578885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747216; longitude = -118.535967; captureRadius = 10; duration = 115; initialDepth = 609.578885; finalDepth = 613.792130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8627779999999 # Altitude Set: 75.8627779999999 # Vehicle Depth:609.578885 # Seafloor Depth:-685.441663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.07; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917134 meters # Minimum depth: 676.644115 meters looking forward 200.000000 meters along route # Maximum depth: 684.764066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.644115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748253; longitude = -118.536123; captureRadius = 10; duration = 115; initialDepth = 604.644115; finalDepth = 609.578885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.82241 # Altitude Set: 76.82241 # Vehicle Depth:604.644115 # Seafloor Depth:-681.466525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.37; 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 = 184.37; MB_Bottom_Detect_Filter_Min_Depth = 38.41; MB_Bottom_Detect_Filter_Max_Depth = 184.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917136 meters # Minimum depth: 673.342877 meters looking forward 200.000000 meters along route # Maximum depth: 681.794107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 601.342877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749290; longitude = -118.536278; captureRadius = 10; duration = 115; initialDepth = 601.342877; finalDepth = 604.644115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.82241 # Altitude Set: 76.82241 # Vehicle Depth:601.342877 # Seafloor Depth:-675.471255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.37; 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 = 184.37; MB_Bottom_Detect_Filter_Min_Depth = 38.41; MB_Bottom_Detect_Filter_Max_Depth = 184.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917139 meters # Minimum depth: 672.009712 meters looking forward 200.000000 meters along route # Maximum depth: 673.870864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 600.009712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750327; longitude = -118.536434; captureRadius = 10; duration = 115; initialDepth = 600.009712; finalDepth = 601.342877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.128378 # Altitude Set: 74.128378 # Vehicle Depth:600.009712 # Seafloor Depth:-673.870864 # behavior reson { duration = 6; 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 11 # Segment length 102.852223 meters # Minimum depth: 671.013493 meters looking forward 200.000000 meters along route # Maximum depth: 673.840824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 599.013493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751364; longitude = -118.536590; captureRadius = 10; duration = 102; initialDepth = 599.013493; finalDepth = 600.009712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.8611519999999 # Altitude Set: 73.8611519999999 # Vehicle Depth:599.013493 # Seafloor Depth:-671.377414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.27; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.662539 meters # Minimum depth: 670.744416 meters looking forward 200.000000 meters along route # Maximum depth: 671.545627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 598.744416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752284; longitude = -118.536728; captureRadius = 10; duration = 109; initialDepth = 598.744416; finalDepth = 599.013493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7176899999999 # Altitude Set: 72.7176899999999 # Vehicle Depth:598.744416 # Seafloor Depth:-671.462106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.52; 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 = 174.52; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917147 meters # Minimum depth: 669.745356 meters looking forward 200.000000 meters along route # Maximum depth: 671.384154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 597.745356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753265; longitude = -118.536875; captureRadius = 10; duration = 115; initialDepth = 597.745356; finalDepth = 598.744416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.824268 # Altitude Set: 72.824268 # Vehicle Depth:597.745356 # Seafloor Depth:-670.569624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 174.78; MB_Bottom_Detect_Filter_Min_Depth = 36.41; MB_Bottom_Detect_Filter_Max_Depth = 174.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917150 meters # Minimum depth: 669.677387 meters looking forward 200.000000 meters along route # Maximum depth: 671.537937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 597.677387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754303; longitude = -118.537031; captureRadius = 10; duration = 115; initialDepth = 597.677387; finalDepth = 597.745356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5594880000001 # Altitude Set: 73.5594880000001 # Vehicle Depth:597.677387 # Seafloor Depth:-671.236875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 176.54; MB_Bottom_Detect_Filter_Min_Depth = 36.78; MB_Bottom_Detect_Filter_Max_Depth = 176.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917152 meters # Minimum depth: 665.319429 meters looking forward 200.000000 meters along route # Maximum depth: 671.537937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 593.319429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755340; longitude = -118.537186; captureRadius = 10; duration = 115; initialDepth = 593.319429; finalDepth = 597.677387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.65815 # Altitude Set: 75.65815 # Vehicle Depth:593.319429 # Seafloor Depth:-668.977579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.58; 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 = 181.58; MB_Bottom_Detect_Filter_Min_Depth = 37.83; MB_Bottom_Detect_Filter_Max_Depth = 181.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917156 meters # Minimum depth: 657.192154 meters looking forward 200.000000 meters along route # Maximum depth: 669.316788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 585.192154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756377; longitude = -118.537342; captureRadius = 10; duration = 115; initialDepth = 585.192154; finalDepth = 593.319429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.5871000000001 # Altitude Set: 78.5871000000001 # Vehicle Depth:585.192154 # Seafloor Depth:-663.779254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 188.61; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 188.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917158 meters # Minimum depth: 654.168507 meters looking forward 200.000000 meters along route # Maximum depth: 660.948421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 582.168507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757414; longitude = -118.537498; captureRadius = 10; duration = 115; initialDepth = 582.168507; finalDepth = 585.192154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.5871000000001 # Altitude Set: 78.5871000000001 # Vehicle Depth:582.168507 # Seafloor Depth:-656.116310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 188.61; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 188.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917161 meters # Minimum depth: 654.168507 meters looking forward 200.000000 meters along route # Maximum depth: 655.456869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 582.168507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758451; longitude = -118.537653; captureRadius = 10; duration = 115; initialDepth = 582.168507; finalDepth = 582.168507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.947803 # Altitude Set: 73.947803 # Vehicle Depth:582.168507 # Seafloor Depth:-655.335567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.97; MB_Bottom_Detect_Filter_Max_Range = 177.47; MB_Bottom_Detect_Filter_Min_Depth = 36.97; MB_Bottom_Detect_Filter_Max_Depth = 177.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917163 meters # Minimum depth: 652.085930 meters looking forward 200.000000 meters along route # Maximum depth: 655.435816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.085930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759488; longitude = -118.537809; captureRadius = 10; duration = 115; initialDepth = 580.085930; finalDepth = 582.168507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1290670000001 # Altitude Set: 74.1290670000001 # Vehicle Depth:580.08593 # Seafloor Depth:-654.214997 # behavior reson { duration = 6; 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 11 # Segment length 108.807392 meters # Minimum depth: 647.817879 meters looking forward 200.000000 meters along route # Maximum depth: 653.863612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 575.817879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760525; longitude = -118.537965; captureRadius = 10; duration = 108; initialDepth = 575.817879; finalDepth = 580.085930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.52647 # Altitude Set: 75.52647 # Vehicle Depth:575.817879 # Seafloor Depth:-651.344349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 181.26; MB_Bottom_Detect_Filter_Min_Depth = 37.76; MB_Bottom_Detect_Filter_Max_Depth = 181.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.707416 meters # Minimum depth: 645.170539 meters looking forward 200.000000 meters along route # Maximum depth: 650.649077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 573.170539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761499; longitude = -118.538111; captureRadius = 10; duration = 103; initialDepth = 573.170539; finalDepth = 575.817879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.52647 # Altitude Set: 75.52647 # Vehicle Depth:573.170539 # Seafloor Depth:-647.384009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 181.26; MB_Bottom_Detect_Filter_Min_Depth = 37.76; MB_Bottom_Detect_Filter_Max_Depth = 181.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917171 meters # Minimum depth: 641.781409 meters looking forward 200.000000 meters along route # Maximum depth: 646.490194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 569.781409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762427; longitude = -118.538250; captureRadius = 10; duration = 115; initialDepth = 569.781409; finalDepth = 573.170539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.97651 # Altitude Set: 74.97651 # Vehicle Depth:569.781409 # Seafloor Depth:-644.757919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.49; MB_Bottom_Detect_Filter_Max_Range = 179.94; MB_Bottom_Detect_Filter_Min_Depth = 37.49; MB_Bottom_Detect_Filter_Max_Depth = 179.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917174 meters # Minimum depth: 636.845477 meters looking forward 200.000000 meters along route # Maximum depth: 643.703544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 564.845477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763464; longitude = -118.538406; captureRadius = 10; duration = 115; initialDepth = 564.845477; finalDepth = 569.781409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.145336 # Altitude Set: 76.145336 # Vehicle Depth:564.845477 # Seafloor Depth:-640.990813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.07; MB_Bottom_Detect_Filter_Max_Range = 182.75; MB_Bottom_Detect_Filter_Min_Depth = 38.07; MB_Bottom_Detect_Filter_Max_Depth = 182.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917177 meters # Minimum depth: 632.835407 meters looking forward 200.000000 meters along route # Maximum depth: 639.335386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 560.835407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764501; longitude = -118.538561; captureRadius = 10; duration = 115; initialDepth = 560.835407; finalDepth = 564.845477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.145336 # Altitude Set: 76.145336 # Vehicle Depth:560.835407 # Seafloor Depth:-636.014866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.07; MB_Bottom_Detect_Filter_Max_Range = 182.75; MB_Bottom_Detect_Filter_Min_Depth = 38.07; MB_Bottom_Detect_Filter_Max_Depth = 182.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917180 meters # Minimum depth: 630.886509 meters looking forward 200.000000 meters along route # Maximum depth: 634.451935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.886509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765538; longitude = -118.538717; captureRadius = 10; duration = 115; initialDepth = 558.886509; finalDepth = 560.835407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.179459 # Altitude Set: 75.179459 # Vehicle Depth:558.886509 # Seafloor Depth:-632.427128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 180.43; MB_Bottom_Detect_Filter_Min_Depth = 37.59; MB_Bottom_Detect_Filter_Max_Depth = 180.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917183 meters # Minimum depth: 625.268081 meters looking forward 200.000000 meters along route # Maximum depth: 631.676608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.268081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766575; longitude = -118.538872; captureRadius = 10; duration = 115; initialDepth = 553.268081; finalDepth = 558.886509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.0901819999999 # Altitude Set: 77.0901819999999 # Vehicle Depth:553.268081 # Seafloor Depth:-630.358263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 185.02; MB_Bottom_Detect_Filter_Min_Depth = 38.55; MB_Bottom_Detect_Filter_Max_Depth = 185.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917185 meters # Minimum depth: 624.238000 meters looking forward 200.000000 meters along route # Maximum depth: 628.359085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 552.238000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767612; longitude = -118.539028; captureRadius = 10; duration = 115; initialDepth = 552.238000; finalDepth = 553.268081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.0901819999999 # Altitude Set: 77.0901819999999 # Vehicle Depth:552.238 # Seafloor Depth:-624.701619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 185.02; MB_Bottom_Detect_Filter_Min_Depth = 38.55; MB_Bottom_Detect_Filter_Max_Depth = 185.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.943459 meters # Minimum depth: 621.653556 meters looking forward 200.000000 meters along route # Maximum depth: 625.049815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.653556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768649; longitude = -118.539184; captureRadius = 10; duration = 101; initialDepth = 549.653556; finalDepth = 552.238000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.361992 # Altitude Set: 75.361992 # Vehicle Depth:549.653556 # Seafloor Depth:-625.015548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.68; MB_Bottom_Detect_Filter_Max_Range = 180.87; MB_Bottom_Detect_Filter_Min_Depth = 37.68; MB_Bottom_Detect_Filter_Max_Depth = 180.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.571388 meters # Minimum depth: 615.436724 meters looking forward 200.000000 meters along route # Maximum depth: 625.049815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.436724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769561; longitude = -118.539321; captureRadius = 10; duration = 110; initialDepth = 543.436724; finalDepth = 549.653556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7783509999999 # Altitude Set: 77.7783509999999 # Vehicle Depth:543.436724 # Seafloor Depth:-621.215075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 186.67; MB_Bottom_Detect_Filter_Min_Depth = 38.89; MB_Bottom_Detect_Filter_Max_Depth = 186.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917194 meters # Minimum depth: 613.644095 meters looking forward 200.000000 meters along route # Maximum depth: 618.438878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 541.644095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770551; longitude = -118.539469; captureRadius = 10; duration = 115; initialDepth = 541.644095; finalDepth = 543.436724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7783509999999 # Altitude Set: 77.7783509999999 # Vehicle Depth:541.644095 # Seafloor Depth:-615.537796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 186.67; MB_Bottom_Detect_Filter_Min_Depth = 38.89; MB_Bottom_Detect_Filter_Max_Depth = 186.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917196 meters # Minimum depth: 611.718149 meters looking forward 200.000000 meters along route # Maximum depth: 615.745714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 539.718149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771588; longitude = -118.539625; captureRadius = 10; duration = 115; initialDepth = 539.718149; finalDepth = 541.644095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.893701 # Altitude Set: 73.893701 # Vehicle Depth:539.718149 # Seafloor Depth:-612.916030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.95; MB_Bottom_Detect_Filter_Max_Range = 177.34; MB_Bottom_Detect_Filter_Min_Depth = 36.95; MB_Bottom_Detect_Filter_Max_Depth = 177.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.917199 meters # Minimum depth: 611.223207 meters looking forward 200.000000 meters along route # Maximum depth: 612.009332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 539.223207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772625; longitude = -118.539780; captureRadius = 10; duration = 115; initialDepth = 539.223207; finalDepth = 539.718149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1978809999999 # Altitude Set: 73.1978809999999 # Vehicle Depth:539.223207 # Seafloor Depth:-611.885341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.67; 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 = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.219415 meters # Minimum depth: 609.718211 meters looking forward 200.000000 meters along route # Maximum depth: 611.966528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 537.718211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773662; longitude = -118.539936; captureRadius = 10; duration = 110; initialDepth = 537.718211; finalDepth = 539.223207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.117392 # Altitude Set: 73.117392 # Vehicle Depth:537.718211 # Seafloor Depth:-610.835603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 175.48; MB_Bottom_Detect_Filter_Min_Depth = 36.56; MB_Bottom_Detect_Filter_Max_Depth = 175.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 57.818514 meters # Minimum depth: 609.718211 meters looking forward 200.000000 meters along route # Maximum depth: 611.223207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 537.718211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774648; longitude = -118.540084; captureRadius = 10; duration = 57; initialDepth = 537.718211; finalDepth = 537.718211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.117392 # Altitude Set: 73.117392 # Vehicle Depth:537.718211 # Seafloor Depth:-609.818115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 175.48; MB_Bottom_Detect_Filter_Min_Depth = 36.56; MB_Bottom_Detect_Filter_Max_Depth = 175.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.181486 meters # Minimum depth: 609.718211 meters looking forward 200.000000 meters along route # Maximum depth: 612.913325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 537.718211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774583; longitude = -118.540703; captureRadius = 10; duration = 102; initialDepth = 537.718211; finalDepth = 537.718211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.196189 # Altitude Set: 73.196189 # Vehicle Depth:537.718211 # Seafloor Depth:-610.914400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.67; 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 = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 42.906548 meters # Minimum depth: 609.835918 meters looking forward 200.000000 meters along route # Maximum depth: 613.219788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 537.835918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774469; longitude = -118.541798; captureRadius = 10; duration = 42; initialDepth = 537.835918; finalDepth = 537.718211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.154179 # Altitude Set: 75.154179 # Vehicle Depth:537.835918 # Seafloor Depth:-612.990097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.37; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.210262 meters # Minimum depth: 612.140941 meters looking forward 200.000000 meters along route # Maximum depth: 614.852015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 540.140941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774085; longitude = -118.541741; captureRadius = 10; duration = 105; initialDepth = 540.140941; finalDepth = 537.835918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.154179 # Altitude Set: 75.154179 # Vehicle Depth:540.140941 # Seafloor Depth:-613.372847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.37; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917500 meters # Minimum depth: 613.813474 meters looking forward 200.000000 meters along route # Maximum depth: 617.029412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 541.813474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773143; longitude = -118.541599; captureRadius = 10; duration = 115; initialDepth = 541.813474; finalDepth = 540.140941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3831259999999 # Altitude Set: 73.3831259999999 # Vehicle Depth:541.813474 # Seafloor Depth:-615.196600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.69; MB_Bottom_Detect_Filter_Max_Range = 176.12; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917497 meters # Minimum depth: 615.899177 meters looking forward 200.000000 meters along route # Maximum depth: 620.289681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.899177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772106; longitude = -118.541444; captureRadius = 10; duration = 115; initialDepth = 543.899177; finalDepth = 541.813474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.607081 # Altitude Set: 73.607081 # Vehicle Depth:543.899177 # Seafloor Depth:-617.506258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.66; 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 = 176.66; MB_Bottom_Detect_Filter_Min_Depth = 36.80; MB_Bottom_Detect_Filter_Max_Depth = 176.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917494 meters # Minimum depth: 618.550903 meters looking forward 200.000000 meters along route # Maximum depth: 623.910238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.550903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771069; longitude = -118.541288; captureRadius = 10; duration = 115; initialDepth = 546.550903; finalDepth = 543.899177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.269976 # Altitude Set: 74.269976 # Vehicle Depth:546.550903 # Seafloor Depth:-620.820879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 178.25; MB_Bottom_Detect_Filter_Min_Depth = 37.13; MB_Bottom_Detect_Filter_Max_Depth = 178.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917492 meters # Minimum depth: 621.767396 meters looking forward 200.000000 meters along route # Maximum depth: 627.640934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.767396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770032; longitude = -118.541132; captureRadius = 10; duration = 115; initialDepth = 549.767396; finalDepth = 546.550903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.193264 # Altitude Set: 75.193264 # Vehicle Depth:549.767396 # Seafloor Depth:-624.960660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 180.46; MB_Bottom_Detect_Filter_Min_Depth = 37.60; MB_Bottom_Detect_Filter_Max_Depth = 180.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917489 meters # Minimum depth: 625.243364 meters looking forward 200.000000 meters along route # Maximum depth: 627.640934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.243364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768995; longitude = -118.540977; captureRadius = 10; duration = 115; initialDepth = 553.243364; finalDepth = 549.767396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.193264 # Altitude Set: 75.193264 # Vehicle Depth:553.243364 # Seafloor Depth:-627.347774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 180.46; MB_Bottom_Detect_Filter_Min_Depth = 37.60; MB_Bottom_Detect_Filter_Max_Depth = 180.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917486 meters # Minimum depth: 624.865482 meters looking forward 200.000000 meters along route # Maximum depth: 626.594455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 552.865482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767958; longitude = -118.540821; captureRadius = 10; duration = 115; initialDepth = 552.865482; finalDepth = 553.243364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1044099999999 # Altitude Set: 74.1044099999999 # Vehicle Depth:552.865482 # Seafloor Depth:-624.974779 # behavior reson { duration = 6; 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 9 # Segment length 100.322160 meters # Minimum depth: 624.865482 meters looking forward 200.000000 meters along route # Maximum depth: 630.998018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 552.865482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766921; longitude = -118.540665; captureRadius = 10; duration = 100; initialDepth = 552.865482; finalDepth = 552.865482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4766979999999 # Altitude Set: 73.4766979999999 # Vehicle Depth:552.865482 # Seafloor Depth:-626.342180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.34; 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 = 176.34; MB_Bottom_Detect_Filter_Min_Depth = 36.74; MB_Bottom_Detect_Filter_Max_Depth = 176.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.193224 meters # Minimum depth: 627.234855 meters looking forward 200.000000 meters along route # Maximum depth: 635.252568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 555.234855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766023; longitude = -118.540531; captureRadius = 10; duration = 112; initialDepth = 555.234855; finalDepth = 552.865482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.920402 # Altitude Set: 75.920402 # Vehicle Depth:555.234855 # Seafloor Depth:-631.155257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 182.21; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 182.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917478 meters # Minimum depth: 632.648146 meters looking forward 200.000000 meters along route # Maximum depth: 640.265130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 560.648146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765019; longitude = -118.540380; captureRadius = 10; duration = 115; initialDepth = 560.648146; finalDepth = 555.234855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.920402 # Altitude Set: 75.920402 # Vehicle Depth:560.648146 # Seafloor Depth:-636.074073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 182.21; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 182.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917476 meters # Minimum depth: 637.653657 meters looking forward 200.000000 meters along route # Maximum depth: 644.144617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 565.653657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763982; longitude = -118.540224; captureRadius = 10; duration = 115; initialDepth = 565.653657; finalDepth = 560.648146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.582384 # Altitude Set: 75.582384 # Vehicle Depth:565.653657 # Seafloor Depth:-641.236041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 181.40; MB_Bottom_Detect_Filter_Min_Depth = 37.79; MB_Bottom_Detect_Filter_Max_Depth = 181.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917472 meters # Minimum depth: 643.175650 meters looking forward 200.000000 meters along route # Maximum depth: 644.730353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.175650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762945; longitude = -118.540069; captureRadius = 10; duration = 115; initialDepth = 571.175650; finalDepth = 565.653657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.582384 # Altitude Set: 75.582384 # Vehicle Depth:571.17565 # Seafloor Depth:-643.955756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 181.40; MB_Bottom_Detect_Filter_Min_Depth = 37.79; MB_Bottom_Detect_Filter_Max_Depth = 181.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917470 meters # Minimum depth: 644.127324 meters looking forward 200.000000 meters along route # Maximum depth: 647.499342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.127324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761908; longitude = -118.539913; captureRadius = 10; duration = 115; initialDepth = 572.127324; finalDepth = 571.175650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.928554 # Altitude Set: 72.928554 # Vehicle Depth:572.127324 # Seafloor Depth:-645.055878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.03; 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 = 175.03; MB_Bottom_Detect_Filter_Min_Depth = 36.46; MB_Bottom_Detect_Filter_Max_Depth = 175.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917467 meters # Minimum depth: 646.106529 meters looking forward 200.000000 meters along route # Maximum depth: 650.586057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 574.106529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760871; longitude = -118.539757; captureRadius = 10; duration = 115; initialDepth = 574.106529; finalDepth = 572.127324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.761976 # Altitude Set: 73.761976 # Vehicle Depth:574.106529 # Seafloor Depth:-647.868505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.03; 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 = 177.03; MB_Bottom_Detect_Filter_Min_Depth = 36.88; MB_Bottom_Detect_Filter_Max_Depth = 177.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917464 meters # Minimum depth: 648.694478 meters looking forward 200.000000 meters along route # Maximum depth: 653.469382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 576.694478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759834; longitude = -118.539602; captureRadius = 10; duration = 115; initialDepth = 576.694478; finalDepth = 574.106529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.72884 # Altitude Set: 74.72884 # Vehicle Depth:576.694478 # Seafloor Depth:-651.423318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.36; MB_Bottom_Detect_Filter_Max_Range = 179.35; MB_Bottom_Detect_Filter_Min_Depth = 37.36; MB_Bottom_Detect_Filter_Max_Depth = 179.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917462 meters # Minimum depth: 652.556361 meters looking forward 200.000000 meters along route # Maximum depth: 655.378931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.556361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758797; longitude = -118.539446; captureRadius = 10; duration = 115; initialDepth = 580.556361; finalDepth = 576.694478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.72884 # Altitude Set: 74.72884 # Vehicle Depth:580.556361 # Seafloor Depth:-653.762100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.36; MB_Bottom_Detect_Filter_Max_Range = 179.35; MB_Bottom_Detect_Filter_Min_Depth = 37.36; MB_Bottom_Detect_Filter_Max_Depth = 179.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.141289 meters # Minimum depth: 654.360809 meters looking forward 200.000000 meters along route # Maximum depth: 659.644415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 582.360809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757760; longitude = -118.539290; captureRadius = 10; duration = 106; initialDepth = 582.360809; finalDepth = 580.556361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4204619999999 # Altitude Set: 73.4204619999999 # Vehicle Depth:582.360809 # Seafloor Depth:-655.781271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.21; 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 = 176.21; MB_Bottom_Detect_Filter_Min_Depth = 36.71; MB_Bottom_Detect_Filter_Max_Depth = 176.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.374050 meters # Minimum depth: 656.264135 meters looking forward 200.000000 meters along route # Maximum depth: 661.363828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 584.264135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756810; longitude = -118.539148; captureRadius = 10; duration = 106; initialDepth = 584.264135; finalDepth = 582.360809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.216167 # Altitude Set: 76.216167 # Vehicle Depth:584.264135 # Seafloor Depth:-660.480302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.92; 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 = 182.92; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917454 meters # Minimum depth: 660.065623 meters looking forward 200.000000 meters along route # Maximum depth: 666.123081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 588.065623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755858; longitude = -118.539005; captureRadius = 10; duration = 115; initialDepth = 588.065623; finalDepth = 584.264135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.216167 # Altitude Set: 76.216167 # Vehicle Depth:588.065623 # Seafloor Depth:-660.301086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.92; 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 = 182.92; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917450 meters # Minimum depth: 663.169225 meters looking forward 200.000000 meters along route # Maximum depth: 666.123081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 591.169225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754821; longitude = -118.538849; captureRadius = 10; duration = 115; initialDepth = 591.169225; finalDepth = 588.065623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.195634 # Altitude Set: 73.195634 # Vehicle Depth:591.169225 # Seafloor Depth:-664.364859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.67; 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 = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917449 meters # Minimum depth: 662.619285 meters looking forward 200.000000 meters along route # Maximum depth: 667.704657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 590.619285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753784; longitude = -118.538694; captureRadius = 10; duration = 115; initialDepth = 590.619285; finalDepth = 591.169225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.195634 # Altitude Set: 73.195634 # Vehicle Depth:590.619285 # Seafloor Depth:-662.619285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.67; 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 = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 36.60; MB_Bottom_Detect_Filter_Max_Depth = 175.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917445 meters # Minimum depth: 663.321052 meters looking forward 200.000000 meters along route # Maximum depth: 672.611409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 591.321052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752747; longitude = -118.538538; captureRadius = 10; duration = 115; initialDepth = 591.321052; finalDepth = 590.619285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.671619 # Altitude Set: 77.671619 # Vehicle Depth:591.321052 # Seafloor Depth:-668.992671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 186.41; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917442 meters # Minimum depth: 671.361268 meters looking forward 200.000000 meters along route # Maximum depth: 677.134026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 599.361268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751710; longitude = -118.538382; captureRadius = 10; duration = 115; initialDepth = 599.361268; finalDepth = 591.321052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.671619 # Altitude Set: 77.671619 # Vehicle Depth:599.361268 # Seafloor Depth:-673.468427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 186.41; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917440 meters # Minimum depth: 676.094481 meters looking forward 200.000000 meters along route # Maximum depth: 677.340196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.094481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750673; longitude = -118.538227; captureRadius = 10; duration = 115; initialDepth = 604.094481; finalDepth = 599.361268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.107159 # Altitude Set: 74.107159 # Vehicle Depth:604.094481 # Seafloor Depth:-677.340196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.86; 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 = 177.86; MB_Bottom_Detect_Filter_Min_Depth = 37.05; MB_Bottom_Detect_Filter_Max_Depth = 177.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917437 meters # Minimum depth: 676.094481 meters looking forward 200.000000 meters along route # Maximum depth: 679.678852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.094481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749636; longitude = -118.538071; captureRadius = 10; duration = 115; initialDepth = 604.094481; finalDepth = 604.094481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.245715 # Altitude Set: 73.245715 # Vehicle Depth:604.094481 # Seafloor Depth:-676.837839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.79; 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 = 175.79; MB_Bottom_Detect_Filter_Min_Depth = 36.62; MB_Bottom_Detect_Filter_Max_Depth = 175.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.960415 meters # Minimum depth: 677.815955 meters looking forward 200.000000 meters along route # Maximum depth: 684.224002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 605.815955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748598; longitude = -118.537915; captureRadius = 10; duration = 111; initialDepth = 605.815955; finalDepth = 604.094481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.6101229999999 # Altitude Set: 74.6101229999999 # Vehicle Depth:605.815955 # Seafloor Depth:-680.426078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 179.06; MB_Bottom_Detect_Filter_Min_Depth = 37.31; MB_Bottom_Detect_Filter_Max_Depth = 179.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.554879 meters # Minimum depth: 681.189994 meters looking forward 200.000000 meters along route # Maximum depth: 690.769519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 609.189994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747597; longitude = -118.537765; captureRadius = 10; duration = 100; initialDepth = 609.189994; finalDepth = 605.815955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.614581 # Altitude Set: 75.614581 # Vehicle Depth:609.189994 # Seafloor Depth:-684.804575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 181.47; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 181.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917429 meters # Minimum depth: 685.883870 meters looking forward 200.000000 meters along route # Maximum depth: 695.134998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 613.883870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746697; longitude = -118.537630; captureRadius = 10; duration = 115; initialDepth = 613.883870; finalDepth = 609.189994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.34901 # Altitude Set: 78.34901 # Vehicle Depth:613.88387 # Seafloor Depth:-692.232880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 188.04; MB_Bottom_Detect_Filter_Min_Depth = 39.17; MB_Bottom_Detect_Filter_Max_Depth = 188.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917427 meters # Minimum depth: 694.182550 meters looking forward 200.000000 meters along route # Maximum depth: 697.746182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 622.182550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745660; longitude = -118.537474; captureRadius = 10; duration = 115; initialDepth = 622.182550; finalDepth = 613.883870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.34901 # Altitude Set: 78.34901 # Vehicle Depth:622.18255 # Seafloor Depth:-695.086238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 188.04; MB_Bottom_Detect_Filter_Min_Depth = 39.17; MB_Bottom_Detect_Filter_Max_Depth = 188.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.917423 meters # Minimum depth: 694.918784 meters looking forward 200.000000 meters along route # Maximum depth: 702.772727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 622.918784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744623; longitude = -118.537319; captureRadius = 10; duration = 115; initialDepth = 622.918784; finalDepth = 622.182550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.563532 # Altitude Set: 76.563532 # Vehicle Depth:622.918784 # Seafloor Depth:-699.482316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.28; MB_Bottom_Detect_Filter_Max_Range = 183.75; MB_Bottom_Detect_Filter_Min_Depth = 38.28; MB_Bottom_Detect_Filter_Max_Depth = 183.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.477565 meters # Minimum depth: 701.670563 meters looking forward 200.000000 meters along route # Maximum depth: 703.038187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 629.670563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743586; longitude = -118.537163; captureRadius = 10; duration = 109; initialDepth = 629.670563; finalDepth = 622.918784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.563532 # Altitude Set: 76.563532 # Vehicle Depth:629.670563 # Seafloor Depth:-702.770626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.28; MB_Bottom_Detect_Filter_Max_Range = 183.75; MB_Bottom_Detect_Filter_Min_Depth = 38.28; MB_Bottom_Detect_Filter_Max_Depth = 183.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 53.799342 meters # Minimum depth: 701.431691 meters looking forward 200.000000 meters along route # Maximum depth: 703.038187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 629.431691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742606; longitude = -118.537016; captureRadius = 10; duration = 53; initialDepth = 629.431691; finalDepth = 629.670563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.594981 # Altitude Set: 73.594981 # Vehicle Depth:629.431691 # Seafloor Depth:-703.026672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.63; 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 = 176.63; MB_Bottom_Detect_Filter_Min_Depth = 36.80; MB_Bottom_Detect_Filter_Max_Depth = 176.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.200658 meters # Minimum depth: 697.553224 meters looking forward 200.000000 meters along route # Maximum depth: 703.038187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 625.553224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742546; longitude = -118.537592; captureRadius = 10; duration = 106; initialDepth = 625.553224; finalDepth = 629.431691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.834778 # Altitude Set: 75.834778 # Vehicle Depth:625.553224 # Seafloor Depth:-701.388002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 182.00; MB_Bottom_Detect_Filter_Min_Depth = 37.92; MB_Bottom_Detect_Filter_Max_Depth = 182.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 32.934787 meters # Minimum depth: 697.216766 meters looking forward 200.000000 meters along route # Maximum depth: 703.026672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 625.216766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742427; longitude = -118.538729; captureRadius = 10; duration = 32; initialDepth = 625.216766; finalDepth = 625.553224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.834778 # Altitude Set: 75.834778 # Vehicle Depth:625.216766 # Seafloor Depth:-697.216766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 182.00; MB_Bottom_Detect_Filter_Min_Depth = 37.92; MB_Bottom_Detect_Filter_Max_Depth = 182.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917724 meters # Minimum depth: 697.216766 meters looking forward 200.000000 meters along route # Maximum depth: 699.718980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 625.216766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742722; longitude = -118.538774; captureRadius = 10; duration = 115; initialDepth = 625.216766; finalDepth = 625.216766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.860589 # Altitude Set: 72.860589 # Vehicle Depth:625.216766 # Seafloor Depth:-698.077355 # behavior reson { duration = 6; 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 7 # Segment length 115.917727 meters # Minimum depth: 699.047999 meters looking forward 200.000000 meters along route # Maximum depth: 699.883584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 627.047999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743759; longitude = -118.538929; captureRadius = 10; duration = 115; initialDepth = 627.047999; finalDepth = 625.216766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.860589 # Altitude Set: 72.860589 # Vehicle Depth:627.047999 # Seafloor Depth:-699.883584 # behavior reson { duration = 6; 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 7 # Segment length 115.917729 meters # Minimum depth: 696.767588 meters looking forward 200.000000 meters along route # Maximum depth: 699.826910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 624.767588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744796; longitude = -118.539085; captureRadius = 10; duration = 115; initialDepth = 624.767588; finalDepth = 627.047999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.8462989999999 # Altitude Set: 73.8462989999999 # Vehicle Depth:624.767588 # Seafloor Depth:-698.613887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.92; MB_Bottom_Detect_Filter_Max_Range = 177.23; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917733 meters # Minimum depth: 695.330373 meters looking forward 200.000000 meters along route # Maximum depth: 697.843443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 623.330373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745833; longitude = -118.539241; captureRadius = 10; duration = 115; initialDepth = 623.330373; finalDepth = 624.767588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.8462989999999 # Altitude Set: 73.8462989999999 # Vehicle Depth:623.330373 # Seafloor Depth:-696.365765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.92; MB_Bottom_Detect_Filter_Max_Range = 177.23; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917735 meters # Minimum depth: 695.330373 meters looking forward 200.000000 meters along route # Maximum depth: 698.617999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 623.330373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746870; longitude = -118.539396; captureRadius = 10; duration = 115; initialDepth = 623.330373; finalDepth = 623.330373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.035392 # Altitude Set: 73.035392 # Vehicle Depth:623.330373 # Seafloor Depth:-696.074929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.52; MB_Bottom_Detect_Filter_Max_Range = 175.28; MB_Bottom_Detect_Filter_Min_Depth = 36.52; MB_Bottom_Detect_Filter_Max_Depth = 175.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917737 meters # Minimum depth: 683.215324 meters looking forward 200.000000 meters along route # Maximum depth: 698.617999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 611.215324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747907; longitude = -118.539552; captureRadius = 10; duration = 115; initialDepth = 611.215324; finalDepth = 623.330373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.0320819999999 # Altitude Set: 85.0320819999999 # Vehicle Depth:611.215324 # Seafloor Depth:-696.247406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.52; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 42.52; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917741 meters # Minimum depth: 679.268134 meters looking forward 200.000000 meters along route # Maximum depth: 689.103930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.268134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748944; longitude = -118.539708; captureRadius = 10; duration = 115; initialDepth = 607.268134; finalDepth = 611.215324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.0320819999999 # Altitude Set: 85.0320819999999 # Vehicle Depth:607.268134 # Seafloor Depth:-682.483100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.52; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 42.52; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.611641 meters # Minimum depth: 676.769452 meters looking forward 200.000000 meters along route # Maximum depth: 681.007909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.769452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749981; longitude = -118.539863; captureRadius = 10; duration = 110; initialDepth = 604.769452; finalDepth = 607.268134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.214966 # Altitude Set: 75.214966 # Vehicle Depth:604.769452 # Seafloor Depth:-679.068691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 180.52; MB_Bottom_Detect_Filter_Min_Depth = 37.61; MB_Bottom_Detect_Filter_Max_Depth = 180.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.904224 meters # Minimum depth: 675.328011 meters looking forward 200.000000 meters along route # Maximum depth: 678.605405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 603.328011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750971; longitude = -118.540012; captureRadius = 10; duration = 101; initialDepth = 603.328011; finalDepth = 604.769452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.2992389999999 # Altitude Set: 74.2992389999999 # Vehicle Depth:603.328011 # Seafloor Depth:-676.464982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.32; 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 = 178.32; MB_Bottom_Detect_Filter_Min_Depth = 37.15; MB_Bottom_Detect_Filter_Max_Depth = 178.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917748 meters # Minimum depth: 675.328011 meters looking forward 200.000000 meters along route # Maximum depth: 677.875239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 603.328011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751883; longitude = -118.540149; captureRadius = 10; duration = 115; initialDepth = 603.328011; finalDepth = 603.328011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.136971 # Altitude Set: 73.136971 # Vehicle Depth:603.328011 # Seafloor Depth:-676.000512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 175.53; MB_Bottom_Detect_Filter_Min_Depth = 36.57; MB_Bottom_Detect_Filter_Max_Depth = 175.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917752 meters # Minimum depth: 674.006399 meters looking forward 200.000000 meters along route # Maximum depth: 681.729410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 602.006399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752920; longitude = -118.540305; captureRadius = 10; duration = 115; initialDepth = 602.006399; finalDepth = 603.328011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.208541 # Altitude Set: 76.208541 # Vehicle Depth:602.006399 # Seafloor Depth:-678.214940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 182.90; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 182.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917754 meters # Minimum depth: 656.766323 meters looking forward 200.000000 meters along route # Maximum depth: 681.729410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 584.766323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753957; longitude = -118.540460; captureRadius = 10; duration = 115; initialDepth = 584.766323; finalDepth = 602.006399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.5774809999999 # Altitude Set: 83.5774809999999 # Vehicle Depth:584.766323 # Seafloor Depth:-668.343804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.79; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 41.79; MB_Bottom_Detect_Filter_Max_Depth = 200.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917756 meters # Minimum depth: 656.403819 meters looking forward 200.000000 meters along route # Maximum depth: 659.359620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 584.403819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754994; longitude = -118.540616; captureRadius = 10; duration = 115; initialDepth = 584.403819; finalDepth = 584.766323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.5774809999999 # Altitude Set: 83.5774809999999 # Vehicle Depth:584.403819 # Seafloor Depth:-656.801663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.79; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 41.79; MB_Bottom_Detect_Filter_Max_Depth = 200.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917760 meters # Minimum depth: 652.409572 meters looking forward 200.000000 meters along route # Maximum depth: 656.626306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.409572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756031; longitude = -118.540772; captureRadius = 10; duration = 115; initialDepth = 580.409572; finalDepth = 584.403819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.849463 # Altitude Set: 75.849463 # Vehicle Depth:580.409572 # Seafloor Depth:-656.259035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 182.04; MB_Bottom_Detect_Filter_Min_Depth = 37.92; MB_Bottom_Detect_Filter_Max_Depth = 182.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917762 meters # Minimum depth: 651.680791 meters looking forward 200.000000 meters along route # Maximum depth: 653.924477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.680791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757068; longitude = -118.540927; captureRadius = 10; duration = 115; initialDepth = 579.680791; finalDepth = 580.409572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.849463 # Altitude Set: 75.849463 # Vehicle Depth:579.680791 # Seafloor Depth:-652.244772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 182.04; MB_Bottom_Detect_Filter_Min_Depth = 37.92; MB_Bottom_Detect_Filter_Max_Depth = 182.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.509687 meters # Minimum depth: 649.613914 meters looking forward 200.000000 meters along route # Maximum depth: 652.546160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 577.613914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758105; longitude = -118.541083; captureRadius = 10; duration = 103; initialDepth = 577.613914; finalDepth = 579.680791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.713163 # Altitude Set: 73.713163 # Vehicle Depth:577.613914 # Seafloor Depth:-651.327077 # behavior reson { duration = 6; 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 7 # Segment length 109.006218 meters # Minimum depth: 647.619587 meters looking forward 200.000000 meters along route # Maximum depth: 650.988974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 575.619587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759031; longitude = -118.541222; captureRadius = 10; duration = 109; initialDepth = 575.619587; finalDepth = 577.613914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.8641769999999 # Altitude Set: 73.8641769999999 # Vehicle Depth:575.619587 # Seafloor Depth:-649.483764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.27; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917770 meters # Minimum depth: 645.092181 meters looking forward 200.000000 meters along route # Maximum depth: 648.869611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 573.092181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760007; longitude = -118.541368; captureRadius = 10; duration = 115; initialDepth = 573.092181; finalDepth = 575.619587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.075882 # Altitude Set: 74.075882 # Vehicle Depth:573.092181 # Seafloor Depth:-647.168063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.78; 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 = 177.78; MB_Bottom_Detect_Filter_Min_Depth = 37.04; MB_Bottom_Detect_Filter_Max_Depth = 177.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917773 meters # Minimum depth: 644.353850 meters looking forward 200.000000 meters along route # Maximum depth: 646.141530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.353850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761044; longitude = -118.541524; captureRadius = 10; duration = 115; initialDepth = 572.353850; finalDepth = 573.092181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.075882 # Altitude Set: 74.075882 # Vehicle Depth:572.35385 # Seafloor Depth:-644.976241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.78; 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 = 177.78; MB_Bottom_Detect_Filter_Min_Depth = 37.04; MB_Bottom_Detect_Filter_Max_Depth = 177.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917776 meters # Minimum depth: 644.089713 meters looking forward 200.000000 meters along route # Maximum depth: 644.658861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.089713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762081; longitude = -118.541680; captureRadius = 10; duration = 115; initialDepth = 572.089713; finalDepth = 572.353850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.622391 # Altitude Set: 72.622391 # Vehicle Depth:572.089713 # Seafloor Depth:-644.305203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.29; 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 = 174.29; MB_Bottom_Detect_Filter_Min_Depth = 36.31; MB_Bottom_Detect_Filter_Max_Depth = 174.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917778 meters # Minimum depth: 640.452310 meters looking forward 200.000000 meters along route # Maximum depth: 644.160390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.452310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763118; longitude = -118.541835; captureRadius = 10; duration = 115; initialDepth = 568.452310; finalDepth = 572.089713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.406471 # Altitude Set: 75.406471 # Vehicle Depth:568.45231 # Seafloor Depth:-643.858781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.70; MB_Bottom_Detect_Filter_Max_Range = 180.98; MB_Bottom_Detect_Filter_Min_Depth = 37.70; MB_Bottom_Detect_Filter_Max_Depth = 180.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917782 meters # Minimum depth: 636.143586 meters looking forward 200.000000 meters along route # Maximum depth: 642.764268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 564.143586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764155; longitude = -118.541991; captureRadius = 10; duration = 115; initialDepth = 564.143586; finalDepth = 568.452310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.4725999999999 # Altitude Set: 75.4725999999999 # Vehicle Depth:564.143586 # Seafloor Depth:-639.616186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 181.13; MB_Bottom_Detect_Filter_Min_Depth = 37.74; MB_Bottom_Detect_Filter_Max_Depth = 181.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917784 meters # Minimum depth: 633.450769 meters looking forward 200.000000 meters along route # Maximum depth: 638.066083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 561.450769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765192; longitude = -118.542147; captureRadius = 10; duration = 115; initialDepth = 561.450769; finalDepth = 564.143586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.4725999999999 # Altitude Set: 75.4725999999999 # Vehicle Depth:561.450769 # Seafloor Depth:-635.573912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 181.13; MB_Bottom_Detect_Filter_Min_Depth = 37.74; MB_Bottom_Detect_Filter_Max_Depth = 181.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917787 meters # Minimum depth: 631.714379 meters looking forward 200.000000 meters along route # Maximum depth: 634.573117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 559.714379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766229; longitude = -118.542302; captureRadius = 10; duration = 115; initialDepth = 559.714379; finalDepth = 561.450769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1231429999999 # Altitude Set: 74.1231429999999 # Vehicle Depth:559.714379 # Seafloor Depth:-633.167541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.90; 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 = 177.90; MB_Bottom_Detect_Filter_Min_Depth = 37.06; MB_Bottom_Detect_Filter_Max_Depth = 177.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.192900 meters # Minimum depth: 630.145712 meters looking forward 200.000000 meters along route # Maximum depth: 632.618865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.145712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767266; longitude = -118.542458; captureRadius = 10; duration = 109; initialDepth = 558.145712; finalDepth = 559.714379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.453162 # Altitude Set: 73.453162 # Vehicle Depth:558.145712 # Seafloor Depth:-631.419558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.73; MB_Bottom_Detect_Filter_Max_Range = 176.29; MB_Bottom_Detect_Filter_Min_Depth = 36.73; MB_Bottom_Detect_Filter_Max_Depth = 176.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.323049 meters # Minimum depth: 630.145712 meters looking forward 200.000000 meters along route # Maximum depth: 631.211311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.145712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768243; longitude = -118.542605; captureRadius = 10; duration = 103; initialDepth = 558.145712; finalDepth = 558.145712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.273846 # Altitude Set: 73.273846 # Vehicle Depth:558.145712 # Seafloor Depth:-630.253250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.86; 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 = 175.86; MB_Bottom_Detect_Filter_Min_Depth = 36.64; MB_Bottom_Detect_Filter_Max_Depth = 175.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917795 meters # Minimum depth: 625.425855 meters looking forward 200.000000 meters along route # Maximum depth: 631.211311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.425855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769168; longitude = -118.542744; captureRadius = 10; duration = 115; initialDepth = 553.425855; finalDepth = 558.145712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.724765 # Altitude Set: 76.724765 # Vehicle Depth:553.425855 # Seafloor Depth:-630.150620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 184.14; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 184.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917798 meters # Minimum depth: 621.995998 meters looking forward 200.000000 meters along route # Maximum depth: 627.928094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.995998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770205; longitude = -118.542899; captureRadius = 10; duration = 115; initialDepth = 549.995998; finalDepth = 553.425855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.724765 # Altitude Set: 76.724765 # Vehicle Depth:549.995998 # Seafloor Depth:-624.719296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 184.14; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 184.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917800 meters # Minimum depth: 618.709643 meters looking forward 200.000000 meters along route # Maximum depth: 623.462361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.709643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771242; longitude = -118.543055; captureRadius = 10; duration = 115; initialDepth = 546.709643; finalDepth = 549.995998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.840165 # Altitude Set: 74.840165 # Vehicle Depth:546.709643 # Seafloor Depth:-621.549808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 179.62; MB_Bottom_Detect_Filter_Min_Depth = 37.42; MB_Bottom_Detect_Filter_Max_Depth = 179.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.917803 meters # Minimum depth: 615.995108 meters looking forward 200.000000 meters along route # Maximum depth: 620.522399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.995108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772279; longitude = -118.543211; captureRadius = 10; duration = 115; initialDepth = 543.995108; finalDepth = 546.709643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.840165 # Altitude Set: 74.840165 # Vehicle Depth:543.995108 # Seafloor Depth:-618.159029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 179.62; MB_Bottom_Detect_Filter_Min_Depth = 37.42; MB_Bottom_Detect_Filter_Max_Depth = 179.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.733224 meters # Minimum depth: 614.121197 meters looking forward 200.000000 meters along route # Maximum depth: 617.240933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.121197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773316; longitude = -118.543366; captureRadius = 10; duration = 108; initialDepth = 542.121197; finalDepth = 543.995108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1639210000001 # Altitude Set: 74.1639210000001 # Vehicle Depth:542.121197 # Seafloor Depth:-615.651967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.99; 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 = 177.99; MB_Bottom_Detect_Filter_Min_Depth = 37.08; MB_Bottom_Detect_Filter_Max_Depth = 177.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 44.364010 meters # Minimum depth: 614.021164 meters looking forward 200.000000 meters along route # Maximum depth: 616.367422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.021164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774289; longitude = -118.543512; captureRadius = 10; duration = 44; initialDepth = 542.021164; finalDepth = 542.121197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.53077 # Altitude Set: 73.53077 # Vehicle Depth:542.021164 # Seafloor Depth:-614.021164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 176.47; MB_Bottom_Detect_Filter_Min_Depth = 36.77; MB_Bottom_Detect_Filter_Max_Depth = 176.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 115.635990 meters # Minimum depth: 614.021164 meters looking forward 200.000000 meters along route # Maximum depth: 618.691385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.021164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774239; longitude = -118.543988; captureRadius = 10; duration = 115; initialDepth = 542.021164; finalDepth = 542.021164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.565068 # Altitude Set: 72.565068 # Vehicle Depth:542.021164 # Seafloor Depth:-614.586232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 174.16; MB_Bottom_Detect_Filter_Min_Depth = 36.28; MB_Bottom_Detect_Filter_Max_Depth = 174.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 50.027108 meters # Minimum depth: 614.079708 meters looking forward 200.000000 meters along route # Maximum depth: 618.959457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.079708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774110; longitude = -118.545226; captureRadius = 10; duration = 50; initialDepth = 542.079708; finalDepth = 542.021164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8797490000001 # Altitude Set: 76.8797490000001 # Vehicle Depth:542.079708 # Seafloor Depth:-618.959457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 184.51; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 184.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.174658 meters # Minimum depth: 617.042517 meters looking forward 200.000000 meters along route # Maximum depth: 623.841463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 545.042517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773662; longitude = -118.545159; captureRadius = 10; duration = 100; initialDepth = 545.042517; finalDepth = 542.079708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8797490000001 # Altitude Set: 76.8797490000001 # Vehicle Depth:545.042517 # Seafloor Depth:-618.644916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 184.51; MB_Bottom_Detect_Filter_Min_Depth = 38.44; MB_Bottom_Detect_Filter_Max_Depth = 184.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.341869 meters # Minimum depth: 619.135141 meters looking forward 200.000000 meters along route # Maximum depth: 625.872045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 547.135141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772766; longitude = -118.545025; captureRadius = 10; duration = 112; initialDepth = 547.135141; finalDepth = 545.042517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.923312 # Altitude Set: 76.923312 # Vehicle Depth:547.135141 # Seafloor Depth:-624.058453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.46; MB_Bottom_Detect_Filter_Max_Range = 184.62; MB_Bottom_Detect_Filter_Min_Depth = 38.46; MB_Bottom_Detect_Filter_Max_Depth = 184.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918102 meters # Minimum depth: 625.511546 meters looking forward 200.000000 meters along route # Maximum depth: 628.401369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.511546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771761; longitude = -118.544874; captureRadius = 10; duration = 115; initialDepth = 553.511546; finalDepth = 547.135141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.923312 # Altitude Set: 76.923312 # Vehicle Depth:553.511546 # Seafloor Depth:-625.989647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.46; MB_Bottom_Detect_Filter_Max_Range = 184.62; MB_Bottom_Detect_Filter_Min_Depth = 38.46; MB_Bottom_Detect_Filter_Max_Depth = 184.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918099 meters # Minimum depth: 626.461407 meters looking forward 200.000000 meters along route # Maximum depth: 632.177429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 554.461407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770724; longitude = -118.544718; captureRadius = 10; duration = 115; initialDepth = 554.461407; finalDepth = 553.511546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.6702739999999 # Altitude Set: 74.6702739999999 # Vehicle Depth:554.461407 # Seafloor Depth:-629.131681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 179.21; MB_Bottom_Detect_Filter_Min_Depth = 37.34; MB_Bottom_Detect_Filter_Max_Depth = 179.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918096 meters # Minimum depth: 630.395118 meters looking forward 200.000000 meters along route # Maximum depth: 634.326685 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.395118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769686; longitude = -118.544562; captureRadius = 10; duration = 115; initialDepth = 558.395118; finalDepth = 554.461407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.6702739999999 # Altitude Set: 74.6702739999999 # Vehicle Depth:558.395118 # Seafloor Depth:-632.643369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 179.21; MB_Bottom_Detect_Filter_Min_Depth = 37.34; MB_Bottom_Detect_Filter_Max_Depth = 179.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918093 meters # Minimum depth: 633.558844 meters looking forward 200.000000 meters along route # Maximum depth: 634.702561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 561.558844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768649; longitude = -118.544407; captureRadius = 10; duration = 115; initialDepth = 561.558844; finalDepth = 558.395118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.248251 # Altitude Set: 74.248251 # Vehicle Depth:561.558844 # Seafloor Depth:-634.413966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.20; 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 = 178.20; MB_Bottom_Detect_Filter_Min_Depth = 37.12; MB_Bottom_Detect_Filter_Max_Depth = 178.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918090 meters # Minimum depth: 634.543175 meters looking forward 200.000000 meters along route # Maximum depth: 634.754483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 562.543175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767612; longitude = -118.544251; captureRadius = 10; duration = 115; initialDepth = 562.543175; finalDepth = 561.558844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.8551219999999 # Altitude Set: 72.8551219999999 # Vehicle Depth:562.543175 # Seafloor Depth:-634.722234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.85; 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 = 174.85; MB_Bottom_Detect_Filter_Min_Depth = 36.43; MB_Bottom_Detect_Filter_Max_Depth = 174.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918088 meters # Minimum depth: 634.731178 meters looking forward 200.000000 meters along route # Maximum depth: 635.138212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 562.731178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766575; longitude = -118.544095; captureRadius = 10; duration = 115; initialDepth = 562.731178; finalDepth = 562.543175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.1790589999999 # Altitude Set: 72.1790589999999 # Vehicle Depth:562.731178 # Seafloor Depth:-634.762221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 173.23; MB_Bottom_Detect_Filter_Min_Depth = 36.09; MB_Bottom_Detect_Filter_Max_Depth = 173.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918085 meters # Minimum depth: 634.862997 meters looking forward 200.000000 meters along route # Maximum depth: 636.790785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 562.862997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765538; longitude = -118.543940; captureRadius = 10; duration = 115; initialDepth = 562.862997; finalDepth = 562.731178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.473525 # Altitude Set: 72.473525 # Vehicle Depth:562.862997 # Seafloor Depth:-635.336522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.94; 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 = 173.94; MB_Bottom_Detect_Filter_Min_Depth = 36.24; MB_Bottom_Detect_Filter_Max_Depth = 173.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.721907 meters # Minimum depth: 635.854999 meters looking forward 200.000000 meters along route # Maximum depth: 638.867944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 563.854999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764501; longitude = -118.543784; captureRadius = 10; duration = 105; initialDepth = 563.854999; finalDepth = 562.862997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.282421 # Altitude Set: 73.282421 # Vehicle Depth:563.854999 # Seafloor Depth:-637.137420 # behavior reson { duration = 6; 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 5 # Segment length 106.794575 meters # Minimum depth: 637.483938 meters looking forward 200.000000 meters along route # Maximum depth: 640.782761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 565.483938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763555; longitude = -118.543642; captureRadius = 10; duration = 106; initialDepth = 565.483938; finalDepth = 563.854999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.567093 # Altitude Set: 73.567093 # Vehicle Depth:565.483938 # Seafloor Depth:-639.051031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 176.56; MB_Bottom_Detect_Filter_Min_Depth = 36.78; MB_Bottom_Detect_Filter_Max_Depth = 176.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918077 meters # Minimum depth: 639.653593 meters looking forward 200.000000 meters along route # Maximum depth: 644.461721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 567.653593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762599; longitude = -118.543498; captureRadius = 10; duration = 115; initialDepth = 567.653593; finalDepth = 565.483938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.567093 # Altitude Set: 73.567093 # Vehicle Depth:567.653593 # Seafloor Depth:-641.164753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 176.56; MB_Bottom_Detect_Filter_Min_Depth = 36.78; MB_Bottom_Detect_Filter_Max_Depth = 176.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918074 meters # Minimum depth: 642.260755 meters looking forward 200.000000 meters along route # Maximum depth: 644.461721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 570.260755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761562; longitude = -118.543343; captureRadius = 10; duration = 115; initialDepth = 570.260755; finalDepth = 567.653593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.683457 # Altitude Set: 73.683457 # Vehicle Depth:570.260755 # Seafloor Depth:-643.944212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 176.84; MB_Bottom_Detect_Filter_Min_Depth = 36.84; MB_Bottom_Detect_Filter_Max_Depth = 176.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918072 meters # Minimum depth: 643.829372 meters looking forward 200.000000 meters along route # Maximum depth: 645.865230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.829372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760525; longitude = -118.543187; captureRadius = 10; duration = 115; initialDepth = 571.829372; finalDepth = 570.260755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.683457 # Altitude Set: 73.683457 # Vehicle Depth:571.829372 # Seafloor Depth:-644.340317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 176.84; MB_Bottom_Detect_Filter_Min_Depth = 36.84; MB_Bottom_Detect_Filter_Max_Depth = 176.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918069 meters # Minimum depth: 644.868663 meters looking forward 200.000000 meters along route # Maximum depth: 648.012373 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.868663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759488; longitude = -118.543031; captureRadius = 10; duration = 115; initialDepth = 572.868663; finalDepth = 571.829372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.373926 # Altitude Set: 73.373926 # Vehicle Depth:572.868663 # Seafloor Depth:-646.242589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.69; MB_Bottom_Detect_Filter_Max_Range = 176.10; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918066 meters # Minimum depth: 646.981618 meters looking forward 200.000000 meters along route # Maximum depth: 649.679356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 574.981618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758451; longitude = -118.542876; captureRadius = 10; duration = 115; initialDepth = 574.981618; finalDepth = 572.868663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.373926 # Altitude Set: 73.373926 # Vehicle Depth:574.981618 # Seafloor Depth:-648.286142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.69; MB_Bottom_Detect_Filter_Max_Range = 176.10; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918063 meters # Minimum depth: 648.462954 meters looking forward 200.000000 meters along route # Maximum depth: 651.980944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 576.462954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757414; longitude = -118.542720; captureRadius = 10; duration = 115; initialDepth = 576.462954; finalDepth = 574.981618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9509790000001 # Altitude Set: 73.9509790000001 # Vehicle Depth:576.462954 # Seafloor Depth:-650.413933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.98; MB_Bottom_Detect_Filter_Max_Range = 177.48; MB_Bottom_Detect_Filter_Min_Depth = 36.98; MB_Bottom_Detect_Filter_Max_Depth = 177.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918060 meters # Minimum depth: 651.307131 meters looking forward 200.000000 meters along route # Maximum depth: 653.399577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.307131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756377; longitude = -118.542564; captureRadius = 10; duration = 115; initialDepth = 579.307131; finalDepth = 576.462954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9509790000001 # Altitude Set: 73.9509790000001 # Vehicle Depth:579.307131 # Seafloor Depth:-652.389810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.98; MB_Bottom_Detect_Filter_Max_Range = 177.48; MB_Bottom_Detect_Filter_Min_Depth = 36.98; MB_Bottom_Detect_Filter_Max_Depth = 177.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.269153 meters # Minimum depth: 652.548300 meters looking forward 200.000000 meters along route # Maximum depth: 657.289088 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.548300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755340; longitude = -118.542409; captureRadius = 10; duration = 111; initialDepth = 580.548300; finalDepth = 579.307131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4758469999999 # Altitude Set: 73.4758469999999 # Vehicle Depth:580.5483 # Seafloor Depth:-654.024147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.34; 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 = 176.34; MB_Bottom_Detect_Filter_Min_Depth = 36.74; MB_Bottom_Detect_Filter_Max_Depth = 176.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.247284 meters # Minimum depth: 654.625898 meters looking forward 200.000000 meters along route # Maximum depth: 676.894094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 582.625898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754344; longitude = -118.542259; captureRadius = 10; duration = 101; initialDepth = 582.625898; finalDepth = 580.548300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.260532 # Altitude Set: 76.260532 # Vehicle Depth:582.625898 # Seafloor Depth:-658.886430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 183.03; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 183.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918053 meters # Minimum depth: 663.389931 meters looking forward 200.000000 meters along route # Maximum depth: 682.150804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 591.389931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753438; longitude = -118.542123; captureRadius = 10; duration = 115; initialDepth = 591.389931; finalDepth = 582.625898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.7639429999999 # Altitude Set: 87.7639429999999 # Vehicle Depth:591.389931 # Seafloor Depth:-679.153874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.88; MB_Bottom_Detect_Filter_Max_Range = 210.63; MB_Bottom_Detect_Filter_Min_Depth = 43.88; MB_Bottom_Detect_Filter_Max_Depth = 210.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918049 meters # Minimum depth: 679.597948 meters looking forward 200.000000 meters along route # Maximum depth: 682.150804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.597948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752401; longitude = -118.541967; captureRadius = 10; duration = 115; initialDepth = 607.597948; finalDepth = 591.389931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.7639429999999 # Altitude Set: 87.7639429999999 # Vehicle Depth:607.597948 # Seafloor Depth:-680.695041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.88; MB_Bottom_Detect_Filter_Max_Range = 210.63; MB_Bottom_Detect_Filter_Min_Depth = 43.88; MB_Bottom_Detect_Filter_Max_Depth = 210.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918047 meters # Minimum depth: 679.597948 meters looking forward 200.000000 meters along route # Maximum depth: 680.914164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.597948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751364; longitude = -118.541812; captureRadius = 10; duration = 115; initialDepth = 607.597948; finalDepth = 607.597948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.097093 # Altitude Set: 73.097093 # Vehicle Depth:607.597948 # Seafloor Depth:-680.389351 # behavior reson { duration = 6; 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 5 # Segment length 115.918045 meters # Minimum depth: 679.655062 meters looking forward 200.000000 meters along route # Maximum depth: 680.914164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.655062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750327; longitude = -118.541656; captureRadius = 10; duration = 115; initialDepth = 607.655062; finalDepth = 607.597948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7914030000001 # Altitude Set: 72.7914030000001 # Vehicle Depth:607.655062 # Seafloor Depth:-679.655062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.40; MB_Bottom_Detect_Filter_Max_Range = 174.70; MB_Bottom_Detect_Filter_Min_Depth = 36.40; MB_Bottom_Detect_Filter_Max_Depth = 174.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918041 meters # Minimum depth: 679.730991 meters looking forward 200.000000 meters along route # Maximum depth: 687.727350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.730991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749290; longitude = -118.541500; captureRadius = 10; duration = 115; initialDepth = 607.730991; finalDepth = 607.655062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.678374 # Altitude Set: 72.678374 # Vehicle Depth:607.730991 # Seafloor Depth:-680.409365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.43; 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 = 174.43; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918039 meters # Minimum depth: 681.174123 meters looking forward 200.000000 meters along route # Maximum depth: 691.999498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 609.174123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748253; longitude = -118.541345; captureRadius = 10; duration = 115; initialDepth = 609.174123; finalDepth = 607.730991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.1807 # Altitude Set: 81.1807 # Vehicle Depth:609.174123 # Seafloor Depth:-690.354823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.59; MB_Bottom_Detect_Filter_Max_Range = 194.83; MB_Bottom_Detect_Filter_Min_Depth = 40.59; MB_Bottom_Detect_Filter_Max_Depth = 194.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.048196 meters # Minimum depth: 688.213786 meters looking forward 200.000000 meters along route # Maximum depth: 691.999498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 616.213786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747216; longitude = -118.541189; captureRadius = 10; duration = 104; initialDepth = 616.213786; finalDepth = 609.174123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.1807 # Altitude Set: 81.1807 # Vehicle Depth:616.213786 # Seafloor Depth:-688.908503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.59; MB_Bottom_Detect_Filter_Max_Range = 194.83; MB_Bottom_Detect_Filter_Min_Depth = 40.59; MB_Bottom_Detect_Filter_Max_Depth = 194.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.468201 meters # Minimum depth: 686.266711 meters looking forward 200.000000 meters along route # Maximum depth: 688.845912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 614.266711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746285; longitude = -118.541049; captureRadius = 10; duration = 108; initialDepth = 614.266711; finalDepth = 616.213786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.805386 # Altitude Set: 73.805386 # Vehicle Depth:614.266711 # Seafloor Depth:-688.072097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 177.13; MB_Bottom_Detect_Filter_Min_Depth = 36.90; MB_Bottom_Detect_Filter_Max_Depth = 177.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918031 meters # Minimum depth: 681.186204 meters looking forward 200.000000 meters along route # Maximum depth: 686.662727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 609.186204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745314; longitude = -118.540903; captureRadius = 10; duration = 115; initialDepth = 609.186204; finalDepth = 614.266711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.781141 # Altitude Set: 76.781141 # Vehicle Depth:609.186204 # Seafloor Depth:-685.967345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.39; MB_Bottom_Detect_Filter_Max_Range = 184.27; MB_Bottom_Detect_Filter_Min_Depth = 38.39; MB_Bottom_Detect_Filter_Max_Depth = 184.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.918028 meters # Minimum depth: 680.627684 meters looking forward 200.000000 meters along route # Maximum depth: 684.577239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 608.627684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744277; longitude = -118.540748; captureRadius = 10; duration = 115; initialDepth = 608.627684; finalDepth = 609.186204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.781141 # Altitude Set: 76.781141 # Vehicle Depth:608.627684 # Seafloor Depth:-681.940038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.39; MB_Bottom_Detect_Filter_Max_Range = 184.27; MB_Bottom_Detect_Filter_Min_Depth = 38.39; MB_Bottom_Detect_Filter_Max_Depth = 184.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.951616 meters # Minimum depth: 679.379185 meters looking forward 200.000000 meters along route # Maximum depth: 683.415116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 607.379185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743240; longitude = -118.540592; captureRadius = 10; duration = 110; initialDepth = 607.379185; finalDepth = 608.627684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3123539999999 # Altitude Set: 73.3123539999999 # Vehicle Depth:607.379185 # Seafloor Depth:-680.332815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 175.95; MB_Bottom_Detect_Filter_Min_Depth = 36.66; MB_Bottom_Detect_Filter_Max_Depth = 175.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 56.596961 meters # Minimum depth: 677.395926 meters looking forward 200.000000 meters along route # Maximum depth: 680.627684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 605.395926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742247; longitude = -118.540443; captureRadius = 10; duration = 56; initialDepth = 605.395926; finalDepth = 607.379185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.044366 # Altitude Set: 74.044366 # Vehicle Depth:605.395926 # Seafloor Depth:-679.440292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.02; MB_Bottom_Detect_Filter_Max_Range = 177.71; MB_Bottom_Detect_Filter_Min_Depth = 37.02; MB_Bottom_Detect_Filter_Max_Depth = 177.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.403039 meters # Minimum depth: 676.488886 meters looking forward 200.000000 meters along route # Maximum depth: 679.440292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.488886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742184; longitude = -118.541049; captureRadius = 10; duration = 103; initialDepth = 604.488886; finalDepth = 605.395926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.044366 # Altitude Set: 74.044366 # Vehicle Depth:604.488886 # Seafloor Depth:-676.926297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.02; MB_Bottom_Detect_Filter_Max_Range = 177.71; MB_Bottom_Detect_Filter_Min_Depth = 37.02; MB_Bottom_Detect_Filter_Max_Depth = 177.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 15.100597 meters # Minimum depth: 676.488886 meters looking forward 200.000000 meters along route # Maximum depth: 679.440292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.488886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742068; longitude = -118.542157; captureRadius = 10; duration = 15; initialDepth = 604.488886; finalDepth = 604.488886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3519650000001 # Altitude Set: 73.3519650000001 # Vehicle Depth:604.488886 # Seafloor Depth:-677.840851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.04; 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 = 176.04; MB_Bottom_Detect_Filter_Min_Depth = 36.68; MB_Bottom_Detect_Filter_Max_Depth = 176.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969001 meters # Minimum depth: 676.336989 meters looking forward 200.000000 meters along route # Maximum depth: 677.840851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.336989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742203; longitude = -118.542177; captureRadius = 10; duration = 115; initialDepth = 604.336989; finalDepth = 604.488886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3519650000001 # Altitude Set: 73.3519650000001 # Vehicle Depth:604.336989 # Seafloor Depth:-677.652377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.04; 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 = 176.04; MB_Bottom_Detect_Filter_Min_Depth = 36.68; MB_Bottom_Detect_Filter_Max_Depth = 176.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969002 meters # Minimum depth: 676.001488 meters looking forward 200.000000 meters along route # Maximum depth: 677.243185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 604.001488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743240; longitude = -118.542337; captureRadius = 10; duration = 115; initialDepth = 604.001488; finalDepth = 604.336989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.315388 # Altitude Set: 73.315388 # Vehicle Depth:604.001488 # Seafloor Depth:-676.211214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 175.96; MB_Bottom_Detect_Filter_Min_Depth = 36.66; MB_Bottom_Detect_Filter_Max_Depth = 175.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969004 meters # Minimum depth: 673.892598 meters looking forward 200.000000 meters along route # Maximum depth: 676.713853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 601.892598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744277; longitude = -118.542497; captureRadius = 10; duration = 115; initialDepth = 601.892598; finalDepth = 604.001488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.867404 # Altitude Set: 73.867404 # Vehicle Depth:601.892598 # Seafloor Depth:-675.760002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.28; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969005 meters # Minimum depth: 671.744133 meters looking forward 200.000000 meters along route # Maximum depth: 675.065574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 599.744133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745314; longitude = -118.542658; captureRadius = 10; duration = 115; initialDepth = 599.744133; finalDepth = 601.892598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.867404 # Altitude Set: 73.867404 # Vehicle Depth:599.744133 # Seafloor Depth:-673.438447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.28; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969007 meters # Minimum depth: 669.643577 meters looking forward 200.000000 meters along route # Maximum depth: 672.466906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 597.643577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746351; longitude = -118.542818; captureRadius = 10; duration = 115; initialDepth = 597.643577; finalDepth = 599.744133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.8594869999999 # Altitude Set: 73.8594869999999 # Vehicle Depth:597.643577 # Seafloor Depth:-671.503064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.26; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.563499 meters # Minimum depth: 666.578631 meters looking forward 200.000000 meters along route # Maximum depth: 670.632991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 594.578631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747389; longitude = -118.542978; captureRadius = 10; duration = 105; initialDepth = 594.578631; finalDepth = 597.643577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5900800000001 # Altitude Set: 74.5900800000001 # Vehicle Depth:594.578631 # Seafloor Depth:-669.168711 # behavior reson { duration = 6; 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 3 # Segment length 107.046352 meters # Minimum depth: 664.900160 meters looking forward 200.000000 meters along route # Maximum depth: 668.653586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 592.900160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748333; longitude = -118.543123; captureRadius = 10; duration = 107; initialDepth = 592.900160; finalDepth = 594.578631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.5900800000001 # Altitude Set: 74.5900800000001 # Vehicle Depth:592.90016 # Seafloor Depth:-666.410015 # behavior reson { duration = 6; 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 3 # Segment length 115.969013 meters # Minimum depth: 662.606170 meters looking forward 200.000000 meters along route # Maximum depth: 665.829923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 590.606170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749290; longitude = -118.543271; captureRadius = 10; duration = 115; initialDepth = 590.606170; finalDepth = 592.900160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.93985 # Altitude Set: 73.93985 # Vehicle Depth:590.60617 # Seafloor Depth:-664.546020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.97; MB_Bottom_Detect_Filter_Max_Range = 177.46; MB_Bottom_Detect_Filter_Min_Depth = 36.97; MB_Bottom_Detect_Filter_Max_Depth = 177.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969013 meters # Minimum depth: 661.759278 meters looking forward 200.000000 meters along route # Maximum depth: 663.812933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 589.759278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750327; longitude = -118.543431; captureRadius = 10; duration = 115; initialDepth = 589.759278; finalDepth = 590.606170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.93985 # Altitude Set: 73.93985 # Vehicle Depth:589.759278 # Seafloor Depth:-662.253369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.97; MB_Bottom_Detect_Filter_Max_Range = 177.46; MB_Bottom_Detect_Filter_Min_Depth = 36.97; MB_Bottom_Detect_Filter_Max_Depth = 177.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969016 meters # Minimum depth: 658.133183 meters looking forward 200.000000 meters along route # Maximum depth: 662.344939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 586.133183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751364; longitude = -118.543591; captureRadius = 10; duration = 115; initialDepth = 586.133183; finalDepth = 589.759278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.1381379999999 # Altitude Set: 75.1381379999999 # Vehicle Depth:586.133183 # Seafloor Depth:-661.271321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 180.33; MB_Bottom_Detect_Filter_Min_Depth = 37.57; MB_Bottom_Detect_Filter_Max_Depth = 180.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969017 meters # Minimum depth: 655.392946 meters looking forward 200.000000 meters along route # Maximum depth: 660.205243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 583.392946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752401; longitude = -118.543751; captureRadius = 10; duration = 115; initialDepth = 583.392946; finalDepth = 586.133183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.1381379999999 # Altitude Set: 75.1381379999999 # Vehicle Depth:583.392946 # Seafloor Depth:-657.403373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 180.33; MB_Bottom_Detect_Filter_Min_Depth = 37.57; MB_Bottom_Detect_Filter_Max_Depth = 180.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969019 meters # Minimum depth: 649.774800 meters looking forward 200.000000 meters along route # Maximum depth: 656.702106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 577.774800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753438; longitude = -118.543911; captureRadius = 10; duration = 115; initialDepth = 577.774800; finalDepth = 583.392946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.905345 # Altitude Set: 76.905345 # Vehicle Depth:577.7748 # Seafloor Depth:-654.680145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 184.57; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969021 meters # Minimum depth: 644.034070 meters looking forward 200.000000 meters along route # Maximum depth: 653.018848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.034070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754475; longitude = -118.544071; captureRadius = 10; duration = 115; initialDepth = 572.034070; finalDepth = 577.774800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.905345 # Altitude Set: 76.905345 # Vehicle Depth:572.03407 # Seafloor Depth:-648.465110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 184.57; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969022 meters # Minimum depth: 641.053184 meters looking forward 200.000000 meters along route # Maximum depth: 646.455972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 569.053184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755513; longitude = -118.544231; captureRadius = 10; duration = 115; initialDepth = 569.053184; finalDepth = 572.034070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.4310399999999 # Altitude Set: 76.4310399999999 # Vehicle Depth:569.053184 # Seafloor Depth:-644.068512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.22; MB_Bottom_Detect_Filter_Max_Range = 183.43; MB_Bottom_Detect_Filter_Min_Depth = 38.22; MB_Bottom_Detect_Filter_Max_Depth = 183.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969025 meters # Minimum depth: 640.719645 meters looking forward 200.000000 meters along route # Maximum depth: 642.693469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.719645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756550; longitude = -118.544392; captureRadius = 10; duration = 115; initialDepth = 568.719645; finalDepth = 569.053184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.0153280000001 # Altitude Set: 75.0153280000001 # Vehicle Depth:568.719645 # Seafloor Depth:-641.603233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.04; 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 = 180.04; MB_Bottom_Detect_Filter_Min_Depth = 37.51; MB_Bottom_Detect_Filter_Max_Depth = 180.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969026 meters # Minimum depth: 640.719645 meters looking forward 200.000000 meters along route # Maximum depth: 642.773140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.719645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757587; longitude = -118.544552; captureRadius = 10; duration = 115; initialDepth = 568.719645; finalDepth = 568.719645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.903457 # Altitude Set: 73.903457 # Vehicle Depth:568.719645 # Seafloor Depth:-642.623102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.95; MB_Bottom_Detect_Filter_Max_Range = 177.37; MB_Bottom_Detect_Filter_Min_Depth = 36.95; MB_Bottom_Detect_Filter_Max_Depth = 177.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969027 meters # Minimum depth: 640.586401 meters looking forward 200.000000 meters along route # Maximum depth: 642.514769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 568.586401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758624; longitude = -118.544712; captureRadius = 10; duration = 115; initialDepth = 568.586401; finalDepth = 568.719645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.903457 # Altitude Set: 73.903457 # Vehicle Depth:568.586401 # Seafloor Depth:-642.158797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.95; MB_Bottom_Detect_Filter_Max_Range = 177.37; MB_Bottom_Detect_Filter_Min_Depth = 36.95; MB_Bottom_Detect_Filter_Max_Depth = 177.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.897489 meters # Minimum depth: 639.316875 meters looking forward 200.000000 meters along route # Maximum depth: 642.304004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 567.316875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759661; longitude = -118.544872; captureRadius = 10; duration = 110; initialDepth = 567.316875; finalDepth = 568.586401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.572396 # Altitude Set: 73.572396 # Vehicle Depth:567.316875 # Seafloor Depth:-640.285814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.57; 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 = 176.57; MB_Bottom_Detect_Filter_Min_Depth = 36.79; MB_Bottom_Detect_Filter_Max_Depth = 176.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.712400 meters # Minimum depth: 638.370468 meters looking forward 200.000000 meters along route # Maximum depth: 640.013709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 566.370468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760653; longitude = -118.545025; captureRadius = 10; duration = 101; initialDepth = 566.370468; finalDepth = 567.316875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.968939 # Altitude Set: 72.968939 # Vehicle Depth:566.370468 # Seafloor Depth:-639.188565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.13; 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 = 175.13; MB_Bottom_Detect_Filter_Min_Depth = 36.48; MB_Bottom_Detect_Filter_Max_Depth = 175.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969032 meters # Minimum depth: 637.113192 meters looking forward 200.000000 meters along route # Maximum depth: 638.962855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 565.113192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761562; longitude = -118.545165; captureRadius = 10; duration = 115; initialDepth = 565.113192; finalDepth = 566.370468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.040312 # Altitude Set: 73.040312 # Vehicle Depth:565.113192 # Seafloor Depth:-638.153504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.52; MB_Bottom_Detect_Filter_Max_Range = 175.30; MB_Bottom_Detect_Filter_Min_Depth = 36.52; MB_Bottom_Detect_Filter_Max_Depth = 175.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969034 meters # Minimum depth: 636.129219 meters looking forward 200.000000 meters along route # Maximum depth: 637.718017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 564.129219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762599; longitude = -118.545325; captureRadius = 10; duration = 115; initialDepth = 564.129219; finalDepth = 565.113192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.040312 # Altitude Set: 73.040312 # Vehicle Depth:564.129219 # Seafloor Depth:-636.962178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.52; MB_Bottom_Detect_Filter_Max_Range = 175.30; MB_Bottom_Detect_Filter_Min_Depth = 36.52; MB_Bottom_Detect_Filter_Max_Depth = 175.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969036 meters # Minimum depth: 630.806199 meters looking forward 200.000000 meters along route # Maximum depth: 637.192393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.806199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763637; longitude = -118.545485; captureRadius = 10; duration = 115; initialDepth = 558.806199; finalDepth = 564.129219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.260012 # Altitude Set: 76.260012 # Vehicle Depth:558.806199 # Seafloor Depth:-635.066211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 183.02; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 183.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969038 meters # Minimum depth: 627.822241 meters looking forward 200.000000 meters along route # Maximum depth: 633.240844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 555.822241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764674; longitude = -118.545645; captureRadius = 10; duration = 115; initialDepth = 555.822241; finalDepth = 558.806199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.260012 # Altitude Set: 76.260012 # Vehicle Depth:555.822241 # Seafloor Depth:-630.007074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.13; MB_Bottom_Detect_Filter_Max_Range = 183.02; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 183.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969040 meters # Minimum depth: 623.416140 meters looking forward 200.000000 meters along route # Maximum depth: 628.868975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 551.416140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765711; longitude = -118.545805; captureRadius = 10; duration = 115; initialDepth = 551.416140; finalDepth = 555.822241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8548649999999 # Altitude Set: 75.8548649999999 # Vehicle Depth:551.41614 # Seafloor Depth:-627.271005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.05; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969041 meters # Minimum depth: 620.713100 meters looking forward 200.000000 meters along route # Maximum depth: 625.913609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 548.713100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766748; longitude = -118.545965; captureRadius = 10; duration = 115; initialDepth = 548.713100; finalDepth = 551.416140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.8548649999999 # Altitude Set: 75.8548649999999 # Vehicle Depth:548.7131 # Seafloor Depth:-622.594043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.05; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969043 meters # Minimum depth: 620.431818 meters looking forward 200.000000 meters along route # Maximum depth: 621.410525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 548.431818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767785; longitude = -118.546125; captureRadius = 10; duration = 115; initialDepth = 548.431818; finalDepth = 548.713100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.880943 # Altitude Set: 73.880943 # Vehicle Depth:548.431818 # Seafloor Depth:-620.516394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 177.31; MB_Bottom_Detect_Filter_Min_Depth = 36.94; MB_Bottom_Detect_Filter_Max_Depth = 177.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969044 meters # Minimum depth: 618.802264 meters looking forward 200.000000 meters along route # Maximum depth: 620.703528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.802264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768822; longitude = -118.546286; captureRadius = 10; duration = 115; initialDepth = 546.802264; finalDepth = 548.431818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.514404 # Altitude Set: 73.514404 # Vehicle Depth:546.802264 # Seafloor Depth:-620.316668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.43; 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 = 176.43; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.969047 meters # Minimum depth: 618.334629 meters looking forward 200.000000 meters along route # Maximum depth: 622.155668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.334629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769859; longitude = -118.546446; captureRadius = 10; duration = 115; initialDepth = 546.334629; finalDepth = 546.802264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.514404 # Altitude Set: 73.514404 # Vehicle Depth:546.334629 # Seafloor Depth:-619.180402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.43; 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 = 176.43; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.961038 meters # Minimum depth: 618.334629 meters looking forward 200.000000 meters along route # Maximum depth: 624.787862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.334629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770896; longitude = -118.546606; captureRadius = 10; duration = 106; initialDepth = 546.334629; finalDepth = 546.334629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.90895 # Altitude Set: 76.90895 # Vehicle Depth:546.334629 # Seafloor Depth:-623.243579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 184.58; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.648884 meters # Minimum depth: 622.856652 meters looking forward 200.000000 meters along route # Maximum depth: 624.787862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 550.856652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771853; longitude = -118.546753; captureRadius = 10; duration = 105; initialDepth = 550.856652; finalDepth = 546.334629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.90895 # Altitude Set: 76.90895 # Vehicle Depth:550.856652 # Seafloor Depth:-624.703642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 184.58; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.083601 meters # Minimum depth: 614.486191 meters looking forward 200.000000 meters along route # Maximum depth: 624.611966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.486191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772798; longitude = -118.546899; captureRadius = 10; duration = 103; initialDepth = 542.486191; finalDepth = 550.856652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.233733 # Altitude Set: 79.233733 # Vehicle Depth:542.486191 # Seafloor Depth:-621.719924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.62; MB_Bottom_Detect_Filter_Max_Range = 190.16; MB_Bottom_Detect_Filter_Min_Depth = 39.62; MB_Bottom_Detect_Filter_Max_Depth = 190.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 12.871823 meters # Minimum depth: 614.059001 meters looking forward 200.000000 meters along route # Maximum depth: 624.337990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 542.059001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773720; longitude = -118.547041; captureRadius = 10; duration = 12; initialDepth = 542.059001; finalDepth = 542.486191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.233733 # Altitude Set: 79.233733 # Vehicle Depth:542.059001 # Seafloor Depth:-614.059001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.62; MB_Bottom_Detect_Filter_Max_Range = 190.16; MB_Bottom_Detect_Filter_Min_Depth = 39.62; MB_Bottom_Detect_Filter_Max_Depth = 190.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846407 meters # Minimum depth: 608.908122 meters looking forward 200.000000 meters along route # Maximum depth: 618.608113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 536.908122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773835; longitude = -118.547058; captureRadius = 10; duration = 115; initialDepth = 536.908122; finalDepth = 542.059001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.325523 # Altitude Set: 76.325523 # Vehicle Depth:536.908122 # Seafloor Depth:-613.233645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 183.18; MB_Bottom_Detect_Filter_Min_Depth = 38.16; MB_Bottom_Detect_Filter_Max_Depth = 183.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846411 meters # Minimum depth: 600.714539 meters looking forward 200.000000 meters along route # Maximum depth: 611.317324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 528.714539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774872; longitude = -118.547207; captureRadius = 10; duration = 115; initialDepth = 528.714539; finalDepth = 536.908122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.306997 # Altitude Set: 79.306997 # Vehicle Depth:528.714539 # Seafloor Depth:-608.021536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 190.34; MB_Bottom_Detect_Filter_Min_Depth = 39.65; MB_Bottom_Detect_Filter_Max_Depth = 190.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846415 meters # Minimum depth: 599.900733 meters looking forward 200.000000 meters along route # Maximum depth: 604.664735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 527.900733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.775909; longitude = -118.547357; captureRadius = 10; duration = 115; initialDepth = 527.900733; finalDepth = 528.714539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.306997 # Altitude Set: 79.306997 # Vehicle Depth:527.900733 # Seafloor Depth:-600.129703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.65; MB_Bottom_Detect_Filter_Max_Range = 190.34; MB_Bottom_Detect_Filter_Min_Depth = 39.65; MB_Bottom_Detect_Filter_Max_Depth = 190.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846419 meters # Minimum depth: 599.938306 meters looking forward 200.000000 meters along route # Maximum depth: 605.983470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 527.938306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.776946; longitude = -118.547506; captureRadius = 10; duration = 115; initialDepth = 527.938306; finalDepth = 527.900733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.422551 # Altitude Set: 74.422551 # Vehicle Depth:527.938306 # Seafloor Depth:-602.360857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 178.61; MB_Bottom_Detect_Filter_Min_Depth = 37.21; MB_Bottom_Detect_Filter_Max_Depth = 178.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.762353 meters # Minimum depth: 603.817789 meters looking forward 200.000000 meters along route # Maximum depth: 614.842496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 531.817789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.777983; longitude = -118.547655; captureRadius = 10; duration = 104; initialDepth = 531.817789; finalDepth = 527.938306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.0522960000001 # Altitude Set: 75.0522960000001 # Vehicle Depth:531.817789 # Seafloor Depth:-606.870085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 180.13; MB_Bottom_Detect_Filter_Min_Depth = 37.53; MB_Bottom_Detect_Filter_Max_Depth = 180.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.622761 meters # Minimum depth: 607.990529 meters looking forward 200.000000 meters along route # Maximum depth: 625.478181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 535.990529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.778921; longitude = -118.547790; captureRadius = 10; duration = 107; initialDepth = 535.990529; finalDepth = 531.817789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.8618329999999 # Altitude Set: 79.8618329999999 # Vehicle Depth:535.990529 # Seafloor Depth:-615.852362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 191.67; MB_Bottom_Detect_Filter_Min_Depth = 39.93; MB_Bottom_Detect_Filter_Max_Depth = 191.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846432 meters # Minimum depth: 619.577018 meters looking forward 200.000000 meters along route # Maximum depth: 630.241597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 547.577018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.779885; longitude = -118.547929; captureRadius = 10; duration = 115; initialDepth = 547.577018; finalDepth = 535.990529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.8618329999999 # Altitude Set: 79.8618329999999 # Vehicle Depth:547.577018 # Seafloor Depth:-627.229524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 191.67; MB_Bottom_Detect_Filter_Min_Depth = 39.93; MB_Bottom_Detect_Filter_Max_Depth = 191.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846436 meters # Minimum depth: 628.941047 meters looking forward 200.000000 meters along route # Maximum depth: 632.172915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 556.941047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.780922; longitude = -118.548078; captureRadius = 10; duration = 115; initialDepth = 556.941047; finalDepth = 547.577018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.652506 # Altitude Set: 79.652506 # Vehicle Depth:556.941047 # Seafloor Depth:-630.516459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.83; MB_Bottom_Detect_Filter_Max_Range = 191.17; MB_Bottom_Detect_Filter_Min_Depth = 39.83; MB_Bottom_Detect_Filter_Max_Depth = 191.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846440 meters # Minimum depth: 630.995369 meters looking forward 200.000000 meters along route # Maximum depth: 633.619629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.995369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.781959; longitude = -118.548228; captureRadius = 10; duration = 115; initialDepth = 558.995369; finalDepth = 556.941047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.66983 # Altitude Set: 73.66983 # Vehicle Depth:558.995369 # Seafloor Depth:-632.665199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 176.81; MB_Bottom_Detect_Filter_Min_Depth = 36.83; MB_Bottom_Detect_Filter_Max_Depth = 176.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846444 meters # Minimum depth: 632.335489 meters looking forward 200.000000 meters along route # Maximum depth: 633.619629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 560.335489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782996; longitude = -118.548377; captureRadius = 10; duration = 115; initialDepth = 560.335489; finalDepth = 558.995369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.66983 # Altitude Set: 73.66983 # Vehicle Depth:560.335489 # Seafloor Depth:-633.408704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 176.81; MB_Bottom_Detect_Filter_Min_Depth = 36.83; MB_Bottom_Detect_Filter_Max_Depth = 176.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846449 meters # Minimum depth: 627.463675 meters looking forward 200.000000 meters along route # Maximum depth: 633.053102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 555.463675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784033; longitude = -118.548526; captureRadius = 10; duration = 115; initialDepth = 555.463675; finalDepth = 560.335489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.461371 # Altitude Set: 76.461371 # Vehicle Depth:555.463675 # Seafloor Depth:-631.925046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 183.51; MB_Bottom_Detect_Filter_Min_Depth = 38.23; MB_Bottom_Detect_Filter_Max_Depth = 183.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 117.634207 meters # Minimum depth: 618.580126 meters looking forward 200.000000 meters along route # Maximum depth: 630.625570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 546.580126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785070; longitude = -118.548676; captureRadius = 10; duration = 117; initialDepth = 546.580126; finalDepth = 555.463675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.941059 # Altitude Set: 79.941059 # Vehicle Depth:546.580126 # Seafloor Depth:-626.521185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 191.86; MB_Bottom_Detect_Filter_Min_Depth = 39.97; MB_Bottom_Detect_Filter_Max_Depth = 191.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.058703 meters # Minimum depth: 610.641706 meters looking forward 200.000000 meters along route # Maximum depth: 624.201331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 538.641706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786123; longitude = -118.548827; captureRadius = 10; duration = 114; initialDepth = 538.641706; finalDepth = 546.580126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.941059 # Altitude Set: 79.941059 # Vehicle Depth:538.641706 # Seafloor Depth:-618.431077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 191.86; MB_Bottom_Detect_Filter_Min_Depth = 39.97; MB_Bottom_Detect_Filter_Max_Depth = 191.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846462 meters # Minimum depth: 600.179571 meters looking forward 200.000000 meters along route # Maximum depth: 615.343317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 528.179571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787144; longitude = -118.548975; captureRadius = 10; duration = 115; initialDepth = 528.179571; finalDepth = 538.641706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.927067 # Altitude Set: 80.927067 # Vehicle Depth:528.179571 # Seafloor Depth:-609.106638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.46; MB_Bottom_Detect_Filter_Max_Range = 194.22; MB_Bottom_Detect_Filter_Min_Depth = 40.46; MB_Bottom_Detect_Filter_Max_Depth = 194.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846465 meters # Minimum depth: 584.115187 meters looking forward 200.000000 meters along route # Maximum depth: 605.967991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 512.115187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788182; longitude = -118.549124; captureRadius = 10; duration = 115; initialDepth = 512.115187; finalDepth = 528.179571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.669308 # Altitude Set: 85.669308 # Vehicle Depth:512.115187 # Seafloor Depth:-597.784495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.83; MB_Bottom_Detect_Filter_Max_Range = 205.61; MB_Bottom_Detect_Filter_Min_Depth = 42.83; MB_Bottom_Detect_Filter_Max_Depth = 205.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846470 meters # Minimum depth: 562.875154 meters looking forward 200.000000 meters along route # Maximum depth: 592.803867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 490.875154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789219; longitude = -118.549273; captureRadius = 10; duration = 115; initialDepth = 490.875154; finalDepth = 512.115187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.916242 # Altitude Set: 89.916242 # Vehicle Depth:490.875154 # Seafloor Depth:-580.791396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.96; MB_Bottom_Detect_Filter_Max_Range = 215.80; MB_Bottom_Detect_Filter_Min_Depth = 44.96; MB_Bottom_Detect_Filter_Max_Depth = 215.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846475 meters # Minimum depth: 551.936212 meters looking forward 200.000000 meters along route # Maximum depth: 573.478963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 479.936212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790256; longitude = -118.549423; captureRadius = 10; duration = 115; initialDepth = 479.936212; finalDepth = 490.875154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.916242 # Altitude Set: 89.916242 # Vehicle Depth:479.936212 # Seafloor Depth:-560.252476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.96; MB_Bottom_Detect_Filter_Max_Range = 215.80; MB_Bottom_Detect_Filter_Min_Depth = 44.96; MB_Bottom_Detect_Filter_Max_Depth = 215.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846478 meters # Minimum depth: 535.802015 meters looking forward 200.000000 meters along route # Maximum depth: 556.550476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 463.802015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791293; longitude = -118.549572; captureRadius = 10; duration = 115; initialDepth = 463.802015; finalDepth = 479.936212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.213882 # Altitude Set: 86.213882 # Vehicle Depth:463.802015 # Seafloor Depth:-550.015897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.11; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 43.11; MB_Bottom_Detect_Filter_Max_Depth = 206.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846483 meters # Minimum depth: 513.162411 meters looking forward 200.000000 meters along route # Maximum depth: 545.274246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 441.162411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792330; longitude = -118.549721; captureRadius = 10; duration = 115; initialDepth = 441.162411; finalDepth = 463.802015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.184112 # Altitude Set: 91.184112 # Vehicle Depth:441.162411 # Seafloor Depth:-532.346523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.59; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 45.59; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.846488 meters # Minimum depth: 495.369476 meters looking forward 200.000000 meters along route # Maximum depth: 525.676300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 423.369476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793367; longitude = -118.549871; captureRadius = 10; duration = 115; initialDepth = 423.369476; finalDepth = 441.162411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.184112 # Altitude Set: 91.184112 # Vehicle Depth:423.369476 # Seafloor Depth:-512.356743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.59; MB_Bottom_Detect_Filter_Max_Range = 218.84; MB_Bottom_Detect_Filter_Min_Depth = 45.59; MB_Bottom_Detect_Filter_Max_Depth = 218.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.974658 meters # Minimum depth: 477.342724 meters looking forward 200.000000 meters along route # Maximum depth: 508.962084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 405.342724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794404; longitude = -118.550020; captureRadius = 10; duration = 102; initialDepth = 405.342724; finalDepth = 423.369476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.987267 # Altitude Set: 88.987267 # Vehicle Depth:405.342724 # Seafloor Depth:-492.295269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.49; MB_Bottom_Detect_Filter_Max_Range = 213.57; MB_Bottom_Detect_Filter_Min_Depth = 44.49; MB_Bottom_Detect_Filter_Max_Depth = 213.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 89.497335 meters # Minimum depth: 465.101438 meters looking forward 200.000000 meters along route # Maximum depth: 492.295269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 393.101438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795326; longitude = -118.550153; captureRadius = 10; duration = 89; initialDepth = 393.101438; finalDepth = 405.342724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.952545 # Altitude Set: 86.952545 # Vehicle Depth:393.101438 # Seafloor Depth:-476.256755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.48; MB_Bottom_Detect_Filter_Max_Range = 208.69; MB_Bottom_Detect_Filter_Min_Depth = 43.48; MB_Bottom_Detect_Filter_Max_Depth = 208.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068019 meters # Minimum depth: 449.335531 meters looking forward 200.000000 meters along route # Maximum depth: 474.027184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 377.335531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796133; longitude = -118.550181; captureRadius = 10; duration = 115; initialDepth = 377.335531; finalDepth = 393.101438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.3225 # Altitude Set: 85.3225 # Vehicle Depth:377.335531 # Seafloor Depth:-462.658031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 204.77; MB_Bottom_Detect_Filter_Min_Depth = 42.66; MB_Bottom_Detect_Filter_Max_Depth = 204.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068038 meters # Minimum depth: 435.728784 meters looking forward 200.000000 meters along route # Maximum depth: 458.325629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 363.728784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797170; longitude = -118.550218; captureRadius = 10; duration = 115; initialDepth = 363.728784; finalDepth = 377.335531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.3225 # Altitude Set: 85.3225 # Vehicle Depth:363.728784 # Seafloor Depth:-446.262339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 204.77; MB_Bottom_Detect_Filter_Min_Depth = 42.66; MB_Bottom_Detect_Filter_Max_Depth = 204.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068056 meters # Minimum depth: 427.706408 meters looking forward 200.000000 meters along route # Maximum depth: 441.398836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 355.706408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798207; longitude = -118.550254; captureRadius = 10; duration = 115; initialDepth = 355.706408; finalDepth = 363.728784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.533555 # Altitude Set: 82.533555 # Vehicle Depth:355.706408 # Seafloor Depth:-434.217629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.27; MB_Bottom_Detect_Filter_Max_Range = 198.08; MB_Bottom_Detect_Filter_Min_Depth = 41.27; MB_Bottom_Detect_Filter_Max_Depth = 198.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068075 meters # Minimum depth: 421.916609 meters looking forward 200.000000 meters along route # Maximum depth: 431.457350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 349.916609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.550291; captureRadius = 10; duration = 115; initialDepth = 349.916609; finalDepth = 355.706408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.511221 # Altitude Set: 78.511221 # Vehicle Depth:349.916609 # Seafloor Depth:-426.591251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.26; MB_Bottom_Detect_Filter_Max_Range = 188.43; MB_Bottom_Detect_Filter_Min_Depth = 39.26; MB_Bottom_Detect_Filter_Max_Depth = 188.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068094 meters # Minimum depth: 415.206884 meters looking forward 200.000000 meters along route # Maximum depth: 424.887825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 343.206884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.550327; captureRadius = 10; duration = 115; initialDepth = 343.206884; finalDepth = 349.916609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.561539 # Altitude Set: 77.561539 # Vehicle Depth:343.206884 # Seafloor Depth:-420.768423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.78; MB_Bottom_Detect_Filter_Max_Range = 186.15; MB_Bottom_Detect_Filter_Min_Depth = 38.78; MB_Bottom_Detect_Filter_Max_Depth = 186.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068113 meters # Minimum depth: 408.373246 meters looking forward 200.000000 meters along route # Maximum depth: 418.519127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 336.373246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.550364; captureRadius = 10; duration = 115; initialDepth = 336.373246; finalDepth = 343.206884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.695456 # Altitude Set: 77.695456 # Vehicle Depth:336.373246 # Seafloor Depth:-414.068702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 186.47; MB_Bottom_Detect_Filter_Min_Depth = 38.85; MB_Bottom_Detect_Filter_Max_Depth = 186.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068132 meters # Minimum depth: 400.405909 meters looking forward 200.000000 meters along route # Maximum depth: 411.883567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 328.405909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802355; longitude = -118.550400; captureRadius = 10; duration = 115; initialDepth = 328.405909; finalDepth = 336.373246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.690913 # Altitude Set: 78.690913 # Vehicle Depth:328.405909 # Seafloor Depth:-407.096822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.35; MB_Bottom_Detect_Filter_Max_Range = 188.86; MB_Bottom_Detect_Filter_Min_Depth = 39.35; MB_Bottom_Detect_Filter_Max_Depth = 188.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068151 meters # Minimum depth: 390.673444 meters looking forward 200.000000 meters along route # Maximum depth: 404.561168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 318.673444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.550437; captureRadius = 10; duration = 115; initialDepth = 318.673444; finalDepth = 328.405909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.165026 # Altitude Set: 80.165026 # Vehicle Depth:318.673444 # Seafloor Depth:-398.838470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.40; 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 = 192.40; MB_Bottom_Detect_Filter_Min_Depth = 40.08; MB_Bottom_Detect_Filter_Max_Depth = 192.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068169 meters # Minimum depth: 379.013771 meters looking forward 200.000000 meters along route # Maximum depth: 395.672176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 307.013771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804430; longitude = -118.550473; captureRadius = 10; duration = 115; initialDepth = 307.013771; finalDepth = 318.673444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.919236 # Altitude Set: 81.919236 # Vehicle Depth:307.013771 # Seafloor Depth:-388.933007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.96; MB_Bottom_Detect_Filter_Max_Range = 196.61; MB_Bottom_Detect_Filter_Min_Depth = 40.96; MB_Bottom_Detect_Filter_Max_Depth = 196.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068188 meters # Minimum depth: 366.331640 meters looking forward 200.000000 meters along route # Maximum depth: 385.298058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 294.331640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805467; longitude = -118.550510; captureRadius = 10; duration = 115; initialDepth = 294.331640; finalDepth = 307.013771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.58839 # Altitude Set: 82.58839 # Vehicle Depth:294.33164 # Seafloor Depth:-376.920030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.29; MB_Bottom_Detect_Filter_Max_Range = 198.21; MB_Bottom_Detect_Filter_Min_Depth = 41.29; MB_Bottom_Detect_Filter_Max_Depth = 198.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068207 meters # Minimum depth: 352.707123 meters looking forward 200.000000 meters along route # Maximum depth: 372.724432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 280.707123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806504; longitude = -118.550547; captureRadius = 10; duration = 115; initialDepth = 280.707123; finalDepth = 294.331640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.43943 # Altitude Set: 83.43943 # Vehicle Depth:280.707123 # Seafloor Depth:-364.146553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.25; 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 = 200.25; MB_Bottom_Detect_Filter_Min_Depth = 41.72; MB_Bottom_Detect_Filter_Max_Depth = 200.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068226 meters # Minimum depth: 339.116180 meters looking forward 200.000000 meters along route # Maximum depth: 359.765570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 267.116180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807541; longitude = -118.550583; captureRadius = 10; duration = 115; initialDepth = 267.116180; finalDepth = 280.707123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.43943 # Altitude Set: 83.43943 # Vehicle Depth:267.11618 # Seafloor Depth:-350.194132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.25; 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 = 200.25; MB_Bottom_Detect_Filter_Min_Depth = 41.72; MB_Bottom_Detect_Filter_Max_Depth = 200.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068245 meters # Minimum depth: 326.590958 meters looking forward 200.000000 meters along route # Maximum depth: 345.526761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 254.590958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808578; longitude = -118.550620; captureRadius = 10; duration = 115; initialDepth = 254.590958; finalDepth = 267.116180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.077952 # Altitude Set: 83.077952 # Vehicle Depth:254.590958 # Seafloor Depth:-336.984885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.54; MB_Bottom_Detect_Filter_Max_Range = 199.39; MB_Bottom_Detect_Filter_Min_Depth = 41.54; MB_Bottom_Detect_Filter_Max_Depth = 199.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068263 meters # Minimum depth: 312.486517 meters looking forward 200.000000 meters along route # Maximum depth: 332.352247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 240.486517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809615; longitude = -118.550656; captureRadius = 10; duration = 115; initialDepth = 240.486517; finalDepth = 254.590958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.980516 # Altitude Set: 83.980516 # Vehicle Depth:240.486517 # Seafloor Depth:-324.467033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.99; MB_Bottom_Detect_Filter_Max_Range = 201.55; MB_Bottom_Detect_Filter_Min_Depth = 41.99; MB_Bottom_Detect_Filter_Max_Depth = 201.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068283 meters # Minimum depth: 298.809239 meters looking forward 200.000000 meters along route # Maximum depth: 320.244705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 226.809239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810652; longitude = -118.550693; captureRadius = 10; duration = 115; initialDepth = 226.809239; finalDepth = 240.486517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.980516 # Altitude Set: 83.980516 # Vehicle Depth:226.809239 # Seafloor Depth:-309.893350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.99; MB_Bottom_Detect_Filter_Max_Range = 201.55; MB_Bottom_Detect_Filter_Min_Depth = 41.99; MB_Bottom_Detect_Filter_Max_Depth = 201.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068301 meters # Minimum depth: 290.945577 meters looking forward 200.000000 meters along route # Maximum depth: 305.547523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 218.945577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811689; longitude = -118.550729; captureRadius = 10; duration = 115; initialDepth = 218.945577; finalDepth = 226.809239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.084111 # Altitude Set: 83.084111 # Vehicle Depth:218.945577 # Seafloor Depth:-298.716539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.54; MB_Bottom_Detect_Filter_Max_Range = 199.40; MB_Bottom_Detect_Filter_Min_Depth = 41.54; MB_Bottom_Detect_Filter_Max_Depth = 199.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068320 meters # Minimum depth: 281.103522 meters looking forward 200.000000 meters along route # Maximum depth: 295.846768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 209.103522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812727; longitude = -118.550766; captureRadius = 10; duration = 115; initialDepth = 209.103522; finalDepth = 218.945577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.232053 # Altitude Set: 80.232053 # Vehicle Depth:209.103522 # Seafloor Depth:-289.335575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.56; 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 = 192.56; MB_Bottom_Detect_Filter_Min_Depth = 40.12; MB_Bottom_Detect_Filter_Max_Depth = 192.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068339 meters # Minimum depth: 271.764120 meters looking forward 200.000000 meters along route # Maximum depth: 286.097445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 199.764120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813764; longitude = -118.550802; captureRadius = 10; duration = 115; initialDepth = 199.764120; finalDepth = 209.103522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.232053 # Altitude Set: 80.232053 # Vehicle Depth:199.76412 # Seafloor Depth:-279.597026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.56; 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 = 192.56; MB_Bottom_Detect_Filter_Min_Depth = 40.12; MB_Bottom_Detect_Filter_Max_Depth = 192.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068357 meters # Minimum depth: 262.900597 meters looking forward 200.000000 meters along route # Maximum depth: 276.576108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 190.900597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814801; longitude = -118.550839; captureRadius = 10; duration = 115; initialDepth = 190.900597; finalDepth = 199.764120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.832906 # Altitude Set: 79.832906 # Vehicle Depth:190.900597 # Seafloor Depth:-270.110454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.92; MB_Bottom_Detect_Filter_Max_Range = 191.60; MB_Bottom_Detect_Filter_Min_Depth = 39.92; MB_Bottom_Detect_Filter_Max_Depth = 191.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068377 meters # Minimum depth: 253.114311 meters looking forward 200.000000 meters along route # Maximum depth: 267.103045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 181.114311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815838; longitude = -118.550875; captureRadius = 10; duration = 115; initialDepth = 181.114311; finalDepth = 190.900597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.303897 # Altitude Set: 80.303897 # Vehicle Depth:181.114311 # Seafloor Depth:-261.418208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 192.73; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 192.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068395 meters # Minimum depth: 242.226970 meters looking forward 200.000000 meters along route # Maximum depth: 258.319445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 170.226970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816875; longitude = -118.550912; captureRadius = 10; duration = 115; initialDepth = 170.226970; finalDepth = 181.114311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.059968 # Altitude Set: 81.059968 # Vehicle Depth:170.22697 # Seafloor Depth:-251.286938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.53; MB_Bottom_Detect_Filter_Max_Range = 194.54; MB_Bottom_Detect_Filter_Min_Depth = 40.53; MB_Bottom_Detect_Filter_Max_Depth = 194.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068414 meters # Minimum depth: 229.942356 meters looking forward 200.000000 meters along route # Maximum depth: 247.554684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 157.942356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817912; longitude = -118.550949; captureRadius = 10; duration = 115; initialDepth = 157.942356; finalDepth = 170.226970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.48763 # Altitude Set: 82.48763 # Vehicle Depth:157.942356 # Seafloor Depth:-240.429986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.97; 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 = 197.97; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 197.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068433 meters # Minimum depth: 219.717026 meters looking forward 200.000000 meters along route # Maximum depth: 236.710693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 147.717026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818949; longitude = -118.550985; captureRadius = 10; duration = 115; initialDepth = 147.717026; finalDepth = 157.942356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.48763 # Altitude Set: 82.48763 # Vehicle Depth:147.717026 # Seafloor Depth:-227.931395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.97; 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 = 197.97; MB_Bottom_Detect_Filter_Min_Depth = 41.24; MB_Bottom_Detect_Filter_Max_Depth = 197.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068452 meters # Minimum depth: 212.432475 meters looking forward 200.000000 meters along route # Maximum depth: 224.422981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 140.432475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819986; longitude = -118.551022; captureRadius = 10; duration = 115; initialDepth = 140.432475; finalDepth = 147.717026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.214369 # Altitude Set: 80.214369 # Vehicle Depth:140.432475 # Seafloor Depth:-218.366729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 192.51; MB_Bottom_Detect_Filter_Min_Depth = 40.11; MB_Bottom_Detect_Filter_Max_Depth = 192.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068471 meters # Minimum depth: 207.501959 meters looking forward 200.000000 meters along route # Maximum depth: 215.744666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 135.501959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821023; longitude = -118.551058; captureRadius = 10; duration = 115; initialDepth = 135.501959; finalDepth = 140.432475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.934254 # Altitude Set: 77.934254 # Vehicle Depth:135.501959 # Seafloor Depth:-211.545857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.97; MB_Bottom_Detect_Filter_Max_Range = 187.04; MB_Bottom_Detect_Filter_Min_Depth = 38.97; MB_Bottom_Detect_Filter_Max_Depth = 187.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068489 meters # Minimum depth: 203.515450 meters looking forward 200.000000 meters along route # Maximum depth: 209.928880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 131.515450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822061; longitude = -118.551095; captureRadius = 10; duration = 115; initialDepth = 131.515450; finalDepth = 135.501959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.043898 # Altitude Set: 76.043898 # Vehicle Depth:131.51545 # Seafloor Depth:-206.742728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.02; MB_Bottom_Detect_Filter_Max_Range = 182.51; MB_Bottom_Detect_Filter_Min_Depth = 38.02; MB_Bottom_Detect_Filter_Max_Depth = 182.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068508 meters # Minimum depth: 199.019897 meters looking forward 200.000000 meters along route # Maximum depth: 205.202823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 127.019897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823098; longitude = -118.551131; captureRadius = 10; duration = 115; initialDepth = 127.019897; finalDepth = 131.515450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.911572 # Altitude Set: 75.911572 # Vehicle Depth:127.019897 # Seafloor Depth:-202.931469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 182.19; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 182.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068527 meters # Minimum depth: 194.019086 meters looking forward 200.000000 meters along route # Maximum depth: 201.483324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 122.019086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824135; longitude = -118.551168; captureRadius = 10; duration = 115; initialDepth = 122.019086; finalDepth = 127.019897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.20556 # Altitude Set: 76.20556 # Vehicle Depth:122.019086 # Seafloor Depth:-198.224646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 182.89; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 182.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068546 meters # Minimum depth: 189.374858 meters looking forward 200.000000 meters along route # Maximum depth: 196.584444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 117.374858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825172; longitude = -118.551204; captureRadius = 10; duration = 115; initialDepth = 117.374858; finalDepth = 122.019086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.20556 # Altitude Set: 76.20556 # Vehicle Depth:117.374858 # Seafloor Depth:-193.246855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 182.89; MB_Bottom_Detect_Filter_Min_Depth = 38.10; MB_Bottom_Detect_Filter_Max_Depth = 182.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068565 meters # Minimum depth: 185.451278 meters looking forward 200.000000 meters along route # Maximum depth: 191.703323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 113.451278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826209; longitude = -118.551241; captureRadius = 10; duration = 115; initialDepth = 113.451278; finalDepth = 117.374858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.871997 # Altitude Set: 75.871997 # Vehicle Depth:113.451278 # Seafloor Depth:-188.616818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.94; MB_Bottom_Detect_Filter_Max_Range = 182.09; MB_Bottom_Detect_Filter_Min_Depth = 37.94; MB_Bottom_Detect_Filter_Max_Depth = 182.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068584 meters # Minimum depth: 180.898308 meters looking forward 200.000000 meters along route # Maximum depth: 187.358001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 108.898308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827246; longitude = -118.551277; captureRadius = 10; duration = 115; initialDepth = 108.898308; finalDepth = 113.451278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.85469 # Altitude Set: 75.85469 # Vehicle Depth:108.898308 # Seafloor Depth:-184.752998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 182.05; MB_Bottom_Detect_Filter_Min_Depth = 37.93; MB_Bottom_Detect_Filter_Max_Depth = 182.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068602 meters # Minimum depth: 175.846556 meters looking forward 200.000000 meters along route # Maximum depth: 183.319780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 103.846556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828283; longitude = -118.551314; captureRadius = 10; duration = 115; initialDepth = 103.846556; finalDepth = 108.898308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.179091 # Altitude Set: 76.179091 # Vehicle Depth:103.846556 # Seafloor Depth:-180.025647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 182.83; MB_Bottom_Detect_Filter_Min_Depth = 38.09; MB_Bottom_Detect_Filter_Max_Depth = 182.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068622 meters # Minimum depth: 170.359640 meters looking forward 200.000000 meters along route # Maximum depth: 178.353235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 98.359640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829320; longitude = -118.551351; captureRadius = 10; duration = 115; initialDepth = 98.359640; finalDepth = 103.846556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.625033 # Altitude Set: 76.625033 # Vehicle Depth:98.35964 # Seafloor Depth:-174.984673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.31; MB_Bottom_Detect_Filter_Max_Range = 183.90; MB_Bottom_Detect_Filter_Min_Depth = 38.31; MB_Bottom_Detect_Filter_Max_Depth = 183.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068640 meters # Minimum depth: 162.667750 meters looking forward 200.000000 meters along route # Maximum depth: 173.168332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 90.667750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830357; longitude = -118.551387; captureRadius = 10; duration = 115; initialDepth = 90.667750; finalDepth = 98.359640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.585488 # Altitude Set: 78.585488 # Vehicle Depth:90.66775 # Seafloor Depth:-169.253238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 188.61; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 188.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068659 meters # Minimum depth: 157.353753 meters looking forward 200.000000 meters along route # Maximum depth: 167.135267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 85.353753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831395; longitude = -118.551424; captureRadius = 10; duration = 115; initialDepth = 85.353753; finalDepth = 90.667750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.585488 # Altitude Set: 78.585488 # Vehicle Depth:85.353753 # Seafloor Depth:-162.068169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 188.61; MB_Bottom_Detect_Filter_Min_Depth = 39.29; MB_Bottom_Detect_Filter_Max_Depth = 188.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068678 meters # Minimum depth: 152.872611 meters looking forward 200.000000 meters along route # Maximum depth: 159.943942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 80.872611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832432; longitude = -118.551460; captureRadius = 10; duration = 115; initialDepth = 80.872611; finalDepth = 85.353753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.714416 # Altitude Set: 76.714416 # Vehicle Depth:80.872611 # Seafloor Depth:-156.638673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 184.11; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 184.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068696 meters # Minimum depth: 148.266518 meters looking forward 200.000000 meters along route # Maximum depth: 155.047534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 76.266518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833469; longitude = -118.551497; captureRadius = 10; duration = 115; initialDepth = 76.266518; finalDepth = 80.872611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.80522 # Altitude Set: 75.80522 # Vehicle Depth:76.266518 # Seafloor Depth:-152.071738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.90; MB_Bottom_Detect_Filter_Max_Range = 181.93; MB_Bottom_Detect_Filter_Min_Depth = 37.90; MB_Bottom_Detect_Filter_Max_Depth = 181.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068716 meters # Minimum depth: 144.234180 meters looking forward 200.000000 meters along route # Maximum depth: 150.493067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 72.234180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834506; longitude = -118.551533; captureRadius = 10; duration = 115; initialDepth = 72.234180; finalDepth = 76.266518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.80522 # Altitude Set: 75.80522 # Vehicle Depth:72.23418 # Seafloor Depth:-147.579251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.90; MB_Bottom_Detect_Filter_Max_Range = 181.93; MB_Bottom_Detect_Filter_Min_Depth = 37.90; MB_Bottom_Detect_Filter_Max_Depth = 181.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068734 meters # Minimum depth: 137.402154 meters looking forward 200.000000 meters along route # Maximum depth: 146.282566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 65.402154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835543; longitude = -118.551570; captureRadius = 10; duration = 115; initialDepth = 65.402154; finalDepth = 72.234180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.086255 # Altitude Set: 78.086255 # Vehicle Depth:65.402154 # Seafloor Depth:-143.488409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 187.41; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 187.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068753 meters # Minimum depth: 125.321065 meters looking forward 200.000000 meters along route # Maximum depth: 141.637072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 53.321065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836580; longitude = -118.551606; captureRadius = 10; duration = 115; initialDepth = 53.321065; finalDepth = 65.402154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.245863 # Altitude Set: 82.245863 # Vehicle Depth:53.321065 # Seafloor Depth:-135.566928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.12; MB_Bottom_Detect_Filter_Max_Range = 197.39; MB_Bottom_Detect_Filter_Min_Depth = 41.12; MB_Bottom_Detect_Filter_Max_Depth = 197.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068772 meters # Minimum depth: 109.558188 meters looking forward 200.000000 meters along route # Maximum depth: 131.491094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.558188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837617; longitude = -118.551643; captureRadius = 10; duration = 115; initialDepth = 37.558188; finalDepth = 53.321065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.531564 # Altitude Set: 85.531564 # Vehicle Depth:37.558188 # Seafloor Depth:-123.089752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068791 meters # Minimum depth: 99.960804 meters looking forward 200.000000 meters along route # Maximum depth: 118.561749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 27.960804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838654; longitude = -118.551679; captureRadius = 10; duration = 115; initialDepth = 27.960804; finalDepth = 37.558188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.531564 # Altitude Set: 85.531564 # Vehicle Depth:27.960804 # Seafloor Depth:-106.571501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068809 meters # Minimum depth: 96.670362 meters looking forward 200.000000 meters along route # Maximum depth: 102.623093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 24.670362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839691; longitude = -118.551716; captureRadius = 10; duration = 115; initialDepth = 24.670362; finalDepth = 27.960804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.610697 # Altitude Set: 78.610697 # Vehicle Depth:24.670362 # Seafloor Depth:-99.444740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 188.67; MB_Bottom_Detect_Filter_Min_Depth = 39.31; MB_Bottom_Detect_Filter_Max_Depth = 188.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.068829 meters # Minimum depth: 93.064562 meters looking forward 200.000000 meters along route # Maximum depth: 98.449891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 21.064562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840729; longitude = -118.551753; captureRadius = 10; duration = 115; initialDepth = 21.064562; finalDepth = 24.670362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.018232 # Altitude Set: 75.018232 # Vehicle Depth:21.064562 # Seafloor Depth:-96.082794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.04; 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 = 180.04; MB_Bottom_Detect_Filter_Min_Depth = 37.51; MB_Bottom_Detect_Filter_Max_Depth = 180.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.676133 meters # Minimum depth: 89.490992 meters looking forward 200.000000 meters along route # Maximum depth: 94.982702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 17.490992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841766; longitude = -118.551789; captureRadius = 10; duration = 108; initialDepth = 17.490992; finalDepth = 21.064562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.018232 # Altitude Set: 75.018232 # Vehicle Depth:17.490992 # Seafloor Depth:-92.309815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.04; 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 = 180.04; MB_Bottom_Detect_Filter_Min_Depth = 37.51; MB_Bottom_Detect_Filter_Max_Depth = 180.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 74.818823 # Altitude Set: 74.818823 # Vehicle Depth:17.285767 # Seafloor Depth:-89.285767 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 179.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.41; MB_Bottom_Detect_Filter_Max_Range = 179.57; MB_Bottom_Detect_Filter_Min_Depth = 37.41; MB_Bottom_Detect_Filter_Max_Depth = 179.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 89.285767 meters looking forward 200.000000 meters along route # Maximum depth: 94.982702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 17.285767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842745; longitude = -118.551824; captureRadius = 10; duration = 500; initialDepth = 17.285767; finalDepth = 17.490992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 179.178742; pitch = -15.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 179.178742; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 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; } # ####################################################### #######################################################