# 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: SMBSurveyPlan07.rte # Mission File: SMBSurveyPlan07.cfg # Distance: 37632.540516 (m) # Estimated Time: 28336 (s) 7.871 (hr) # Abort Time: 36837 (s) # Way Points: 40 # Route Points: 357 # 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 -118.600222 33.855018 -89.484093 0.000000 1 # 1 -118.617738 33.823328 -589.216370 3870.421791 1 # 2 -118.632776 33.796882 -861.319107 7117.073802 1 # 3 -118.639978 33.787778 -868.051712 8327.118744 1 # 4 -118.641937 33.788931 -866.663493 8549.041803 1 # 5 -118.634620 33.797631 -859.270182 9728.083976 1 # 6 -118.636348 33.798668 -856.693197 9925.175167 1 # 7 -118.643666 33.789968 -866.069565 11104.209224 1 # 8 -118.645567 33.791005 -865.047607 11314.464213 1 # 9 -118.638077 33.799705 -852.422119 12502.768602 1 # 10 -118.639805 33.800742 -847.481033 12699.834746 1 # 11 -118.647123 33.792042 -862.920492 13878.864198 1 # 12 -118.649024 33.793079 -860.662109 14089.169871 1 # 13 -118.641764 33.801722 -842.780197 15259.945767 1 # 14 -118.645221 33.803796 -838.484009 15654.098121 1 # 15 -118.652596 33.795211 -856.815506 16825.783310 1 # 16 -118.654325 33.796248 -857.313904 17022.908328 1 # 17 -118.646950 33.805006 -839.695709 18210.233382 1 # 18 -118.648678 33.806043 -842.098068 18407.268112 1 # 19 -118.656111 33.797227 -859.921061 19602.891790 1 # 20 -118.658012 33.798265 -862.206624 19813.189281 1 # 21 -118.650407 33.807080 -844.788330 21018.070565 1 # 22 -118.652135 33.808117 -847.533122 21215.148644 1 # 23 -118.659568 33.799302 -863.210342 22410.719315 1 # 24 -118.661412 33.800396 -865.582357 22620.180014 1 # 25 -118.653979 33.809212 -851.848958 23815.770479 1 # 26 -118.655708 33.810076 -853.357910 24002.307598 1 # 27 -118.662852 33.801203 -866.120773 25188.042710 1 # 28 -118.664926 33.802413 -867.983724 25422.343112 1 # 29 -118.657494 33.811228 -853.682220 26617.867229 1 # 30 -118.659337 33.812323 -854.685628 26827.342005 1 # 31 -118.666597 33.803335 -868.977783 28029.629160 1 # 32 -118.672705 33.821081 -842.118327 30077.409487 1 # 33 -118.670458 33.830588 -802.538981 31152.111634 1 # 34 -118.668729 33.837848 -692.243571 31973.016680 1 # 35 -118.680656 33.829551 -776.797526 33410.133039 1 # 36 -118.685841 33.834736 -724.607585 34159.214978 1 # 37 -118.673915 33.843033 -638.344279 35596.283216 1 # 38 -118.678063 33.847182 -615.690511 36195.510773 1 # 39 -118.689990 33.838885 -711.687744 37632.540516 1 # # A total of 357 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 37632.540516 #define MISSION_TIME 28336 #define MISSION_TIMEOUT 36837 #define DEPTH_MAX 850.000000 #define DEPTH_ABORT 870.000000 #define ALTITUDE_DESIRED 72.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2500; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 79.837277 meters # Minimum depth: 707.311683 meters looking forward 200.000000 meters along route # Maximum depth: 711.687744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 635.311683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838885; longitude = -118.689990; captureRadius = 10; duration = 79; initialDepth = 635.311683; finalDepth = 635.311683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.3760609999999 # Altitude Set: 76.3760609999999 # Vehicle Depth:635.311683 # Seafloor Depth:-711.687744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.19; MB_Bottom_Detect_Filter_Max_Range = 183.30; MB_Bottom_Detect_Filter_Min_Depth = 38.19; MB_Bottom_Detect_Filter_Max_Depth = 183.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.664008 meters # Minimum depth: 700.593684 meters looking forward 200.000000 meters along route # Maximum depth: 711.687744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 628.593684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839346; longitude = -118.689327; captureRadius = 10; duration = 100; initialDepth = 628.593684; finalDepth = 635.311683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.5476629999999 # Altitude Set: 78.5476629999999 # Vehicle Depth:628.593684 # Seafloor Depth:-707.141347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.27; MB_Bottom_Detect_Filter_Max_Range = 188.51; MB_Bottom_Detect_Filter_Min_Depth = 39.27; MB_Bottom_Detect_Filter_Max_Depth = 188.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.134730 meters # Minimum depth: 685.685190 meters looking forward 200.000000 meters along route # Maximum depth: 706.232421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 613.685190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839927; longitude = -118.688492; captureRadius = 10; duration = 104; initialDepth = 613.685190; finalDepth = 628.593684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.641345 # Altitude Set: 85.641345 # Vehicle Depth:613.68519 # Seafloor Depth:-699.326535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.82; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 42.82; MB_Bottom_Detect_Filter_Max_Depth = 205.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.134271 meters # Minimum depth: 666.871524 meters looking forward 200.000000 meters along route # Maximum depth: 696.819967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 594.871524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840528; longitude = -118.687628; captureRadius = 10; duration = 104; initialDepth = 594.871524; finalDepth = 613.685190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.121537 # Altitude Set: 87.121537 # Vehicle Depth:594.871524 # Seafloor Depth:-681.993061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.56; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 43.56; MB_Bottom_Detect_Filter_Max_Depth = 209.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.133813 meters # Minimum depth: 652.641547 meters looking forward 200.000000 meters along route # Maximum depth: 678.485881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 580.641547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841129; longitude = -118.686763; captureRadius = 10; duration = 104; initialDepth = 580.641547; finalDepth = 594.871524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.121537 # Altitude Set: 87.121537 # Vehicle Depth:580.641547 # Seafloor Depth:-665.387432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.56; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 43.56; MB_Bottom_Detect_Filter_Max_Depth = 209.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.133354 meters # Minimum depth: 644.577346 meters looking forward 200.000000 meters along route # Maximum depth: 662.228287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.577346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841731; longitude = -118.685899; captureRadius = 10; duration = 104; initialDepth = 572.577346; finalDepth = 580.641547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.745885 # Altitude Set: 84.745885 # Vehicle Depth:572.577346 # Seafloor Depth:-649.874176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.37; MB_Bottom_Detect_Filter_Max_Range = 203.39; MB_Bottom_Detect_Filter_Min_Depth = 42.37; MB_Bottom_Detect_Filter_Max_Depth = 203.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.132896 meters # Minimum depth: 644.577346 meters looking forward 200.000000 meters along route # Maximum depth: 649.805340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.577346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842332; longitude = -118.685035; captureRadius = 10; duration = 104; initialDepth = 572.577346; finalDepth = 572.577346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.29683 # Altitude Set: 77.29683 # Vehicle Depth:572.577346 # Seafloor Depth:-644.618221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.51; 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 = 185.51; MB_Bottom_Detect_Filter_Min_Depth = 38.65; MB_Bottom_Detect_Filter_Max_Depth = 185.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.132437 meters # Minimum depth: 645.259687 meters looking forward 200.000000 meters along route # Maximum depth: 651.362390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 573.259687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842933; longitude = -118.684171; captureRadius = 10; duration = 104; initialDepth = 573.259687; finalDepth = 572.577346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.684225 # Altitude Set: 77.684225 # Vehicle Depth:573.259687 # Seafloor Depth:-650.943912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.44; 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 = 186.44; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.131979 meters # Minimum depth: 643.198880 meters looking forward 200.000000 meters along route # Maximum depth: 651.362390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 571.198880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843534; longitude = -118.683306; captureRadius = 10; duration = 104; initialDepth = 571.198880; finalDepth = 573.259687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.684225 # Altitude Set: 77.684225 # Vehicle Depth:571.19888 # Seafloor Depth:-648.260366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.44; 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 = 186.44; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.131520 meters # Minimum depth: 635.837655 meters looking forward 200.000000 meters along route # Maximum depth: 646.968617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 563.837655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844135; longitude = -118.682442; captureRadius = 10; duration = 104; initialDepth = 563.837655; finalDepth = 571.198880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.157979 # Altitude Set: 78.157979 # Vehicle Depth:563.837655 # Seafloor Depth:-641.995634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 187.58; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 187.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.131061 meters # Minimum depth: 630.688911 meters looking forward 200.000000 meters along route # Maximum depth: 641.449829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.688911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844737; longitude = -118.681578; captureRadius = 10; duration = 104; initialDepth = 558.688911; finalDepth = 563.837655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.157979 # Altitude Set: 78.157979 # Vehicle Depth:558.688911 # Seafloor Depth:-635.498811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 187.58; MB_Bottom_Detect_Filter_Min_Depth = 39.08; MB_Bottom_Detect_Filter_Max_Depth = 187.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.130604 meters # Minimum depth: 624.977999 meters looking forward 200.000000 meters along route # Maximum depth: 634.247566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 552.977999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845338; longitude = -118.680713; captureRadius = 10; duration = 104; initialDepth = 552.977999; finalDepth = 558.688911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8099000000001 # Altitude Set: 76.8099000000001 # Vehicle Depth:552.977999 # Seafloor Depth:-629.665649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.40; MB_Bottom_Detect_Filter_Max_Range = 184.34; MB_Bottom_Detect_Filter_Min_Depth = 38.40; MB_Bottom_Detect_Filter_Max_Depth = 184.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.130144 meters # Minimum depth: 621.033044 meters looking forward 200.000000 meters along route # Maximum depth: 629.165015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.033044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845939; longitude = -118.679849; captureRadius = 10; duration = 104; initialDepth = 549.033044; finalDepth = 552.977999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.6876500000001 # Altitude Set: 76.6876500000001 # Vehicle Depth:549.033044 # Seafloor Depth:-624.779330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 184.05; MB_Bottom_Detect_Filter_Min_Depth = 38.34; MB_Bottom_Detect_Filter_Max_Depth = 184.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 111.071649 meters # Minimum depth: 616.009877 meters looking forward 200.000000 meters along route # Maximum depth: 623.817071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 544.009877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846540; longitude = -118.678985; captureRadius = 10; duration = 111; initialDepth = 544.009877; finalDepth = 549.033044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.23323 # Altitude Set: 76.23323 # Vehicle Depth:544.009877 # Seafloor Depth:-620.243107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 182.96; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 182.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 41.612677 meters # Minimum depth: 615.690511 meters looking forward 200.000000 meters along route # Maximum depth: 621.998421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.690511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847182; longitude = -118.678063; captureRadius = 10; duration = 41; initialDepth = 543.690511; finalDepth = 544.009877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.23323 # Altitude Set: 76.23323 # Vehicle Depth:543.690511 # Seafloor Depth:-615.690511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 182.96; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 182.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 116.515770 meters # Minimum depth: 615.690511 meters looking forward 200.000000 meters along route # Maximum depth: 620.435872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 543.690511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846894; longitude = -118.677775; captureRadius = 10; duration = 116; initialDepth = 543.690511; finalDepth = 543.690511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.252808 # Altitude Set: 73.252808 # Vehicle Depth:543.690511 # Seafloor Depth:-616.943319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 175.81; MB_Bottom_Detect_Filter_Min_Depth = 36.63; MB_Bottom_Detect_Filter_Max_Depth = 175.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 108.193580 meters # Minimum depth: 617.569112 meters looking forward 200.000000 meters along route # Maximum depth: 624.393514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 545.569112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846087; longitude = -118.676968; captureRadius = 10; duration = 108; initialDepth = 545.569112; finalDepth = 543.690511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.439921 # Altitude Set: 75.439921 # Vehicle Depth:545.569112 # Seafloor Depth:-621.009033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 181.06; MB_Bottom_Detect_Filter_Min_Depth = 37.72; MB_Bottom_Detect_Filter_Max_Depth = 181.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 116.516557 meters # Minimum depth: 621.828837 meters looking forward 200.000000 meters along route # Maximum depth: 628.512004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 549.828837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845338; longitude = -118.676219; captureRadius = 10; duration = 116; initialDepth = 549.828837; finalDepth = 545.569112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.439921 # Altitude Set: 75.439921 # Vehicle Depth:549.828837 # Seafloor Depth:-624.699951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 181.06; MB_Bottom_Detect_Filter_Min_Depth = 37.72; MB_Bottom_Detect_Filter_Max_Depth = 181.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 108.194311 meters # Minimum depth: 625.644735 meters looking forward 200.000000 meters along route # Maximum depth: 633.005310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 553.644735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844531; longitude = -118.675413; captureRadius = 10; duration = 108; initialDepth = 553.644735; finalDepth = 549.828837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.499227 # Altitude Set: 75.499227 # Vehicle Depth:553.644735 # Seafloor Depth:-629.143962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 181.20; MB_Bottom_Detect_Filter_Min_Depth = 37.75; MB_Bottom_Detect_Filter_Max_Depth = 181.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 108.194662 meters # Minimum depth: 630.096029 meters looking forward 200.000000 meters along route # Maximum depth: 637.917419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 558.096029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843782; longitude = -118.674664; captureRadius = 10; duration = 108; initialDepth = 558.096029; finalDepth = 553.644735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.499227 # Altitude Set: 75.499227 # Vehicle Depth:558.096029 # Seafloor Depth:-633.365133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 181.20; MB_Bottom_Detect_Filter_Min_Depth = 37.75; MB_Bottom_Detect_Filter_Max_Depth = 181.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 69.855465 meters # Minimum depth: 633.005310 meters looking forward 200.000000 meters along route # Maximum depth: 642.864347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 561.005310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843033; longitude = -118.673915; captureRadius = 10; duration = 69; initialDepth = 561.005310; finalDepth = 558.096029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.338969 # Altitude Set: 77.338969 # Vehicle Depth:561.00531 # Seafloor Depth:-638.344279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 185.61; MB_Bottom_Detect_Filter_Min_Depth = 38.67; MB_Bottom_Detect_Filter_Max_Depth = 185.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 103.698866 meters # Minimum depth: 637.503459 meters looking forward 200.000000 meters along route # Maximum depth: 649.170898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 565.503459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842630; longitude = -118.674494; captureRadius = 10; duration = 103; initialDepth = 565.503459; finalDepth = 561.005310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.390998 # Altitude Set: 77.390998 # Vehicle Depth:565.503459 # Seafloor Depth:-642.894457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.70; MB_Bottom_Detect_Filter_Max_Range = 185.74; MB_Bottom_Detect_Filter_Min_Depth = 38.70; MB_Bottom_Detect_Filter_Max_Depth = 185.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 105.868767 meters # Minimum depth: 644.323738 meters looking forward 200.000000 meters along route # Maximum depth: 657.663865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 572.323738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842031; longitude = -118.675355; captureRadius = 10; duration = 105; initialDepth = 572.323738; finalDepth = 565.503459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.7874539999999 # Altitude Set: 77.7874539999999 # Vehicle Depth:572.323738 # Seafloor Depth:-650.111192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.69; 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 = 186.69; MB_Bottom_Detect_Filter_Min_Depth = 38.89; MB_Bottom_Detect_Filter_Max_Depth = 186.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 102.398111 meters # Minimum depth: 651.201511 meters looking forward 200.000000 meters along route # Maximum depth: 664.869651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 579.201511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841420; longitude = -118.676234; captureRadius = 10; duration = 102; initialDepth = 579.201511; finalDepth = 572.323738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.597317 # Altitude Set: 78.597317 # Vehicle Depth:579.201511 # Seafloor Depth:-657.798828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 188.63; MB_Bottom_Detect_Filter_Min_Depth = 39.30; MB_Bottom_Detect_Filter_Max_Depth = 188.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 107.171379 meters # Minimum depth: 659.311871 meters looking forward 200.000000 meters along route # Maximum depth: 676.045194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 587.311871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840829; longitude = -118.677084; captureRadius = 10; duration = 107; initialDepth = 587.311871; finalDepth = 579.201511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.658496 # Altitude Set: 78.658496 # Vehicle Depth:587.311871 # Seafloor Depth:-665.970367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 188.78; MB_Bottom_Detect_Filter_Min_Depth = 39.33; MB_Bottom_Detect_Filter_Max_Depth = 188.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.097333 meters # Minimum depth: 667.543223 meters looking forward 200.000000 meters along route # Maximum depth: 686.956996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 595.543223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840210; longitude = -118.677973; captureRadius = 10; duration = 101; initialDepth = 595.543223; finalDepth = 587.311871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.829067 # Altitude Set: 80.829067 # Vehicle Depth:595.543223 # Seafloor Depth:-676.372290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.41; MB_Bottom_Detect_Filter_Max_Range = 193.99; MB_Bottom_Detect_Filter_Min_Depth = 40.41; MB_Bottom_Detect_Filter_Max_Depth = 193.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.135043 meters # Minimum depth: 678.304676 meters looking forward 200.000000 meters along route # Maximum depth: 699.725158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 606.304676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839626; longitude = -118.678812; captureRadius = 10; duration = 104; initialDepth = 606.304676; finalDepth = 595.543223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.112651 # Altitude Set: 82.112651 # Vehicle Depth:606.304676 # Seafloor Depth:-688.417327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.06; MB_Bottom_Detect_Filter_Max_Range = 197.07; MB_Bottom_Detect_Filter_Min_Depth = 41.06; MB_Bottom_Detect_Filter_Max_Depth = 197.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.135502 meters # Minimum depth: 690.925060 meters looking forward 200.000000 meters along route # Maximum depth: 703.665412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 618.925060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839025; longitude = -118.679676; captureRadius = 10; duration = 104; initialDepth = 618.925060; finalDepth = 606.304676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.755984 # Altitude Set: 82.755984 # Vehicle Depth:618.92506 # Seafloor Depth:-701.681044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.38; MB_Bottom_Detect_Filter_Max_Range = 198.61; MB_Bottom_Detect_Filter_Min_Depth = 41.38; MB_Bottom_Detect_Filter_Max_Depth = 198.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.135960 meters # Minimum depth: 686.448531 meters looking forward 200.000000 meters along route # Maximum depth: 703.665412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 614.448531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838424; longitude = -118.680541; captureRadius = 10; duration = 104; initialDepth = 614.448531; finalDepth = 618.925060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.783606 # Altitude Set: 85.783606 # Vehicle Depth:614.448531 # Seafloor Depth:-700.232137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.89; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 42.89; MB_Bottom_Detect_Filter_Max_Depth = 205.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.136418 meters # Minimum depth: 680.366168 meters looking forward 200.000000 meters along route # Maximum depth: 697.430250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 608.366168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837823; longitude = -118.681405; captureRadius = 10; duration = 104; initialDepth = 608.366168; finalDepth = 614.448531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.783606 # Altitude Set: 85.783606 # Vehicle Depth:608.366168 # Seafloor Depth:-683.440270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.89; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 42.89; MB_Bottom_Detect_Filter_Max_Depth = 205.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.136877 meters # Minimum depth: 680.366168 meters looking forward 200.000000 meters along route # Maximum depth: 697.977909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 608.366168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837221; longitude = -118.682269; captureRadius = 10; duration = 104; initialDepth = 608.366168; finalDepth = 608.366168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.622784 # Altitude Set: 76.622784 # Vehicle Depth:608.366168 # Seafloor Depth:-684.988952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.89; 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 = 183.89; MB_Bottom_Detect_Filter_Min_Depth = 38.31; MB_Bottom_Detect_Filter_Max_Depth = 183.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 104.137336 meters # Minimum depth: 688.272494 meters looking forward 200.000000 meters along route # Maximum depth: 708.236612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 616.272494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836620; longitude = -118.683133; captureRadius = 10; duration = 104; initialDepth = 616.272494; finalDepth = 608.366168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.156034 # Altitude Set: 84.156034 # Vehicle Depth:616.272494 # Seafloor Depth:-700.428528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.08; MB_Bottom_Detect_Filter_Max_Range = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 42.08; MB_Bottom_Detect_Filter_Max_Depth = 201.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 112.382055 meters # Minimum depth: 702.524973 meters looking forward 200.000000 meters along route # Maximum depth: 716.097480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 630.524973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836019; longitude = -118.683998; captureRadius = 10; duration = 112; initialDepth = 630.524973; finalDepth = 616.272494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.156034 # Altitude Set: 84.156034 # Vehicle Depth:630.524973 # Seafloor Depth:-708.765658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.08; MB_Bottom_Detect_Filter_Max_Range = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 42.08; MB_Bottom_Detect_Filter_Max_Depth = 201.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.779126 meters # Minimum depth: 710.384984 meters looking forward 200.000000 meters along route # Maximum depth: 723.604108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 638.384984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835370; longitude = -118.684930; captureRadius = 10; duration = 109; initialDepth = 638.384984; finalDepth = 630.524973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.3083819999999 # Altitude Set: 78.3083819999999 # Vehicle Depth:638.384984 # Seafloor Depth:-716.693366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 187.94; MB_Bottom_Detect_Filter_Min_Depth = 39.15; MB_Bottom_Detect_Filter_Max_Depth = 187.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 83.230495 meters # Minimum depth: 716.693366 meters looking forward 200.000000 meters along route # Maximum depth: 727.148051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 644.693366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834736; longitude = -118.685841; captureRadius = 10; duration = 83; initialDepth = 644.693366; finalDepth = 638.384984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.914219 # Altitude Set: 79.914219 # Vehicle Depth:644.693366 # Seafloor Depth:-724.607585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 191.79; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 191.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 108.199954 meters # Minimum depth: 724.607585 meters looking forward 200.000000 meters along route # Maximum depth: 732.649516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 652.607585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834160; longitude = -118.685265; captureRadius = 10; duration = 108; initialDepth = 652.607585; finalDepth = 644.693366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.914219 # Altitude Set: 79.914219 # Vehicle Depth:652.607585 # Seafloor Depth:-727.868632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 191.79; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 191.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 116.523421 meters # Minimum depth: 729.020813 meters looking forward 200.000000 meters along route # Maximum depth: 738.080973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 657.020813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833411; longitude = -118.684516; captureRadius = 10; duration = 116; initialDepth = 657.020813; finalDepth = 652.607585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9888920000001 # Altitude Set: 75.9888920000001 # Vehicle Depth:657.020813 # Seafloor Depth:-733.009705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.99; MB_Bottom_Detect_Filter_Max_Range = 182.37; MB_Bottom_Detect_Filter_Min_Depth = 37.99; MB_Bottom_Detect_Filter_Max_Depth = 182.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 108.200684 meters # Minimum depth: 734.106730 meters looking forward 200.000000 meters along route # Maximum depth: 746.426961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 662.106730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832604; longitude = -118.683710; captureRadius = 10; duration = 108; initialDepth = 662.106730; finalDepth = 657.020813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.00765 # Altitude Set: 77.00765 # Vehicle Depth:662.10673 # Seafloor Depth:-739.114380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 184.82; MB_Bottom_Detect_Filter_Min_Depth = 38.50; MB_Bottom_Detect_Filter_Max_Depth = 184.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 116.524206 meters # Minimum depth: 740.809347 meters looking forward 200.000000 meters along route # Maximum depth: 755.743510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 668.809347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831855; longitude = -118.682961; captureRadius = 10; duration = 116; initialDepth = 668.809347; finalDepth = 662.106730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.311869 # Altitude Set: 78.311869 # Vehicle Depth:668.809347 # Seafloor Depth:-747.121216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 187.95; MB_Bottom_Detect_Filter_Min_Depth = 39.16; MB_Bottom_Detect_Filter_Max_Depth = 187.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 108.201414 meters # Minimum depth: 749.255493 meters looking forward 200.000000 meters along route # Maximum depth: 766.076782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 677.255493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831049; longitude = -118.682154; captureRadius = 10; duration = 108; initialDepth = 677.255493; finalDepth = 668.809347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.79482 # Altitude Set: 79.79482 # Vehicle Depth:677.255493 # Seafloor Depth:-757.050313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.90; MB_Bottom_Detect_Filter_Max_Range = 191.51; MB_Bottom_Detect_Filter_Min_Depth = 39.90; MB_Bottom_Detect_Filter_Max_Depth = 191.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 108.201765 meters # Minimum depth: 758.967122 meters looking forward 200.000000 meters along route # Maximum depth: 775.886698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 686.967122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830300; longitude = -118.681405; captureRadius = 10; duration = 108; initialDepth = 686.967122; finalDepth = 677.255493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.028606 # Altitude Set: 80.028606 # Vehicle Depth:686.967122 # Seafloor Depth:-766.995728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.01; MB_Bottom_Detect_Filter_Max_Range = 192.07; MB_Bottom_Detect_Filter_Min_Depth = 40.01; MB_Bottom_Detect_Filter_Max_Depth = 192.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 79.842088 meters # Minimum depth: 766.076782 meters looking forward 200.000000 meters along route # Maximum depth: 776.797526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 694.076782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829551; longitude = -118.680656; captureRadius = 10; duration = 79; initialDepth = 694.076782; finalDepth = 686.967122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.720744 # Altitude Set: 82.720744 # Vehicle Depth:694.076782 # Seafloor Depth:-776.797526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 198.53; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 198.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.670074 meters # Minimum depth: 756.058179 meters looking forward 200.000000 meters along route # Maximum depth: 776.797526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 684.058179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830012; longitude = -118.679993; captureRadius = 10; duration = 100; initialDepth = 684.058179; finalDepth = 694.076782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.720744 # Altitude Set: 82.720744 # Vehicle Depth:684.058179 # Seafloor Depth:-766.350057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 198.53; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 198.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.141005 meters # Minimum depth: 745.980260 meters looking forward 200.000000 meters along route # Maximum depth: 764.296516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 673.980260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830593; longitude = -118.679158; captureRadius = 10; duration = 104; initialDepth = 673.980260; finalDepth = 684.058179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.291878 # Altitude Set: 82.291878 # Vehicle Depth:673.98026 # Seafloor Depth:-754.864403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.15; MB_Bottom_Detect_Filter_Max_Range = 197.50; MB_Bottom_Detect_Filter_Min_Depth = 41.15; MB_Bottom_Detect_Filter_Max_Depth = 197.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.140547 meters # Minimum depth: 735.000366 meters looking forward 200.000000 meters along route # Maximum depth: 752.753845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 663.000366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831194; longitude = -118.678294; captureRadius = 10; duration = 104; initialDepth = 663.000366; finalDepth = 673.980260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.884143 # Altitude Set: 80.884143 # Vehicle Depth:663.000366 # Seafloor Depth:-743.842511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.44; MB_Bottom_Detect_Filter_Max_Range = 194.12; MB_Bottom_Detect_Filter_Min_Depth = 40.44; MB_Bottom_Detect_Filter_Max_Depth = 194.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.140088 meters # Minimum depth: 733.767811 meters looking forward 200.000000 meters along route # Maximum depth: 741.780861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 661.767811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831795; longitude = -118.677429; captureRadius = 10; duration = 104; initialDepth = 661.767811; finalDepth = 663.000366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.842145 # Altitude Set: 80.842145 # Vehicle Depth:661.767811 # Seafloor Depth:-734.444400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.42; MB_Bottom_Detect_Filter_Max_Range = 194.02; MB_Bottom_Detect_Filter_Min_Depth = 40.42; MB_Bottom_Detect_Filter_Max_Depth = 194.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.139630 meters # Minimum depth: 733.767811 meters looking forward 200.000000 meters along route # Maximum depth: 765.881504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 661.767811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832397; longitude = -118.676565; captureRadius = 10; duration = 104; initialDepth = 661.767811; finalDepth = 661.767811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.7789809999999 # Altitude Set: 79.7789809999999 # Vehicle Depth:661.767811 # Seafloor Depth:-741.546792 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 191.47; MB_Bottom_Detect_Filter_Min_Depth = 39.89; MB_Bottom_Detect_Filter_Max_Depth = 191.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.139172 meters # Minimum depth: 744.914008 meters looking forward 200.000000 meters along route # Maximum depth: 778.971171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 672.914008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832998; longitude = -118.675701; captureRadius = 10; duration = 104; initialDepth = 672.914008; finalDepth = 661.767811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 95.395573 # Altitude Set: 95.395573 # Vehicle Depth:672.914008 # Seafloor Depth:-768.309581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.70; MB_Bottom_Detect_Filter_Max_Range = 228.95; MB_Bottom_Detect_Filter_Min_Depth = 47.70; MB_Bottom_Detect_Filter_Max_Depth = 228.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.138714 meters # Minimum depth: 769.819255 meters looking forward 200.000000 meters along route # Maximum depth: 779.065370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 697.819255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833599; longitude = -118.674837; captureRadius = 10; duration = 104; initialDepth = 697.819255; finalDepth = 672.914008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 95.395573 # Altitude Set: 95.395573 # Vehicle Depth:697.819255 # Seafloor Depth:-779.065370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.70; MB_Bottom_Detect_Filter_Max_Range = 228.95; MB_Bottom_Detect_Filter_Min_Depth = 47.70; MB_Bottom_Detect_Filter_Max_Depth = 228.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.138255 meters # Minimum depth: 749.728150 meters looking forward 200.000000 meters along route # Maximum depth: 778.551990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 677.728150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834200; longitude = -118.673972; captureRadius = 10; duration = 104; initialDepth = 677.728150; finalDepth = 697.819255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.523374 # Altitude Set: 90.523374 # Vehicle Depth:677.72815 # Seafloor Depth:-768.251524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.26; MB_Bottom_Detect_Filter_Max_Range = 217.26; MB_Bottom_Detect_Filter_Min_Depth = 45.26; MB_Bottom_Detect_Filter_Max_Depth = 217.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.137798 meters # Minimum depth: 733.674112 meters looking forward 200.000000 meters along route # Maximum depth: 763.307665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 661.674112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834801; longitude = -118.673108; captureRadius = 10; duration = 104; initialDepth = 661.674112; finalDepth = 677.728150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.523374 # Altitude Set: 90.523374 # Vehicle Depth:661.674112 # Seafloor Depth:-746.281794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.26; MB_Bottom_Detect_Filter_Max_Range = 217.26; MB_Bottom_Detect_Filter_Min_Depth = 45.26; MB_Bottom_Detect_Filter_Max_Depth = 217.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.137339 meters # Minimum depth: 724.651372 meters looking forward 200.000000 meters along route # Maximum depth: 744.921972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 652.651372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835403; longitude = -118.672244; captureRadius = 10; duration = 104; initialDepth = 652.651372; finalDepth = 661.674112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.607682 # Altitude Set: 84.607682 # Vehicle Depth:652.651372 # Seafloor Depth:-733.035956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.30; MB_Bottom_Detect_Filter_Max_Range = 203.06; MB_Bottom_Detect_Filter_Min_Depth = 42.30; MB_Bottom_Detect_Filter_Max_Depth = 203.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.136880 meters # Minimum depth: 713.431636 meters looking forward 200.000000 meters along route # Maximum depth: 730.798436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 641.431636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836004; longitude = -118.671379; captureRadius = 10; duration = 104; initialDepth = 641.431636; finalDepth = 652.651372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.390731 # Altitude Set: 81.390731 # Vehicle Depth:641.431636 # Seafloor Depth:-722.822367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.70; MB_Bottom_Detect_Filter_Max_Range = 195.34; MB_Bottom_Detect_Filter_Min_Depth = 40.70; MB_Bottom_Detect_Filter_Max_Depth = 195.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.136423 meters # Minimum depth: 705.705744 meters looking forward 200.000000 meters along route # Maximum depth: 721.901869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 633.705744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836605; longitude = -118.670515; captureRadius = 10; duration = 104; initialDepth = 633.705744; finalDepth = 641.431636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.390731 # Altitude Set: 81.390731 # Vehicle Depth:633.705744 # Seafloor Depth:-713.028179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.70; MB_Bottom_Detect_Filter_Max_Range = 195.34; MB_Bottom_Detect_Filter_Min_Depth = 40.70; MB_Bottom_Detect_Filter_Max_Depth = 195.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 111.078346 meters # Minimum depth: 692.983357 meters looking forward 200.000000 meters along route # Maximum depth: 711.118917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 620.983357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837206; longitude = -118.669651; captureRadius = 10; duration = 111; initialDepth = 620.983357; finalDepth = 633.705744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.193448 # Altitude Set: 83.193448 # Vehicle Depth:620.983357 # Seafloor Depth:-704.176805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.66; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.60; MB_Bottom_Detect_Filter_Max_Range = 199.66; MB_Bottom_Detect_Filter_Min_Depth = 41.60; MB_Bottom_Detect_Filter_Max_Depth = 199.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 45.605777 meters # Minimum depth: 692.243571 meters looking forward 200.000000 meters along route # Maximum depth: 707.563468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 620.243571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837848; longitude = -118.668729; captureRadius = 10; duration = 45; initialDepth = 620.243571; finalDepth = 620.983357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.193448 # Altitude Set: 83.193448 # Vehicle Depth:620.243571 # Seafloor Depth:-692.243571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.66; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.60; MB_Bottom_Detect_Filter_Max_Range = 199.66; MB_Bottom_Detect_Filter_Min_Depth = 41.60; MB_Bottom_Detect_Filter_Max_Depth = 199.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 117.272029 meters # Minimum depth: 692.243571 meters looking forward 200.000000 meters along route # Maximum depth: 712.206760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 620.243571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837444; longitude = -118.668825; captureRadius = 10; duration = 117; initialDepth = 620.243571; finalDepth = 620.243571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.4970430000001 # Altitude Set: 78.4970430000001 # Vehicle Depth:620.243571 # Seafloor Depth:-698.740614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 188.39; MB_Bottom_Detect_Filter_Min_Depth = 39.25; MB_Bottom_Detect_Filter_Max_Depth = 188.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.756960 meters # Minimum depth: 704.120218 meters looking forward 200.000000 meters along route # Maximum depth: 728.775386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 632.120218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836407; longitude = -118.669072; captureRadius = 10; duration = 110; initialDepth = 632.120218; finalDepth = 620.243571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.718945 # Altitude Set: 82.718945 # Vehicle Depth:632.120218 # Seafloor Depth:-714.839163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 198.53; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 198.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.241881 meters # Minimum depth: 717.300747 meters looking forward 200.000000 meters along route # Maximum depth: 743.695763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 645.300747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835428; longitude = -118.669305; captureRadius = 10; duration = 104; initialDepth = 645.300747; finalDepth = 632.120218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.5315890000001 # Altitude Set: 85.5315890000001 # Vehicle Depth:645.300747 # Seafloor Depth:-730.832336 # behavior reson { duration = RESON_DURATION; 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 34 # Segment length 117.272159 meters # Minimum depth: 735.009897 meters looking forward 200.000000 meters along route # Maximum depth: 762.178378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 663.009897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834506; longitude = -118.669525; captureRadius = 10; duration = 117; initialDepth = 663.009897; finalDepth = 645.300747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.5315890000001 # Altitude Set: 85.5315890000001 # Vehicle Depth:663.009897 # Seafloor Depth:-746.509969 # behavior reson { duration = RESON_DURATION; 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 34 # Segment length 106.848008 meters # Minimum depth: 752.837522 meters looking forward 200.000000 meters along route # Maximum depth: 780.494717 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 680.837522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833469; longitude = -118.669772; captureRadius = 10; duration = 106; initialDepth = 680.837522; finalDepth = 663.009897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.818166 # Altitude Set: 84.818166 # Vehicle Depth:680.837522 # Seafloor Depth:-765.655688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.41; MB_Bottom_Detect_Filter_Max_Range = 203.56; MB_Bottom_Detect_Filter_Min_Depth = 42.41; MB_Bottom_Detect_Filter_Max_Depth = 203.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 108.151071 meters # Minimum depth: 768.932565 meters looking forward 200.000000 meters along route # Maximum depth: 792.461633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 696.932565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832524; longitude = -118.669997; captureRadius = 10; duration = 108; initialDepth = 696.932565; finalDepth = 680.837522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.818166 # Altitude Set: 84.818166 # Vehicle Depth:696.932565 # Seafloor Depth:-781.724923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.41; MB_Bottom_Detect_Filter_Max_Range = 203.56; MB_Bottom_Detect_Filter_Min_Depth = 42.41; MB_Bottom_Detect_Filter_Max_Depth = 203.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.757161 meters # Minimum depth: 785.499729 meters looking forward 200.000000 meters along route # Maximum depth: 801.762271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 713.499729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831567; longitude = -118.670224; captureRadius = 10; duration = 110; initialDepth = 713.499729; finalDepth = 696.932565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.792358 # Altitude Set: 84.792358 # Vehicle Depth:713.499729 # Seafloor Depth:-794.342865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.40; MB_Bottom_Detect_Filter_Max_Range = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 42.40; MB_Bottom_Detect_Filter_Max_Depth = 203.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 84.673365 meters # Minimum depth: 794.342865 meters looking forward 200.000000 meters along route # Maximum depth: 805.660744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 722.342865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830588; longitude = -118.670458; captureRadius = 10; duration = 84; initialDepth = 722.342865; finalDepth = 713.499729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.843136 # Altitude Set: 80.843136 # Vehicle Depth:722.342865 # Seafloor Depth:-802.538981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.42; MB_Bottom_Detect_Filter_Max_Range = 194.02; MB_Bottom_Detect_Filter_Min_Depth = 40.42; MB_Bottom_Detect_Filter_Max_Depth = 194.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 108.221614 meters # Minimum depth: 802.538981 meters looking forward 200.000000 meters along route # Maximum depth: 811.035642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 730.538981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829839; longitude = -118.670635; captureRadius = 10; duration = 108; initialDepth = 730.538981; finalDepth = 722.342865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.1961160000001 # Altitude Set: 80.1961160000001 # Vehicle Depth:730.538981 # Seafloor Depth:-806.460669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 192.47; MB_Bottom_Detect_Filter_Min_Depth = 40.10; MB_Bottom_Detect_Filter_Max_Depth = 192.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.718573 meters # Minimum depth: 807.268208 meters looking forward 200.000000 meters along route # Maximum depth: 816.609467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 735.268208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828882; longitude = -118.670861; captureRadius = 10; duration = 106; initialDepth = 735.268208; finalDepth = 730.538981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.4135550000001 # Altitude Set: 76.4135550000001 # Vehicle Depth:735.268208 # Seafloor Depth:-811.681763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.39; 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 = 183.39; MB_Bottom_Detect_Filter_Min_Depth = 38.21; MB_Bottom_Detect_Filter_Max_Depth = 183.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 117.240165 meters # Minimum depth: 813.202637 meters looking forward 200.000000 meters along route # Maximum depth: 821.837082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 741.202637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827937; longitude = -118.671084; captureRadius = 10; duration = 117; initialDepth = 741.202637; finalDepth = 735.268208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.534006 # Altitude Set: 76.534006 # Vehicle Depth:741.202637 # Seafloor Depth:-817.736643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 183.68; MB_Bottom_Detect_Filter_Min_Depth = 38.27; MB_Bottom_Detect_Filter_Max_Depth = 183.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.718652 meters # Minimum depth: 819.702110 meters looking forward 200.000000 meters along route # Maximum depth: 825.547593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 747.702110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826900; longitude = -118.671329; captureRadius = 10; duration = 106; initialDepth = 747.702110; finalDepth = 741.202637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.534006 # Altitude Set: 76.534006 # Vehicle Depth:747.70211 # Seafloor Depth:-822.651544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 183.68; MB_Bottom_Detect_Filter_Min_Depth = 38.27; MB_Bottom_Detect_Filter_Max_Depth = 183.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 108.221769 meters # Minimum depth: 823.433084 meters looking forward 200.000000 meters along route # Maximum depth: 827.633577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 751.433084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825956; longitude = -118.671552; captureRadius = 10; duration = 108; initialDepth = 751.433084; finalDepth = 747.702110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.949434 # Altitude Set: 74.949434 # Vehicle Depth:751.433084 # Seafloor Depth:-825.779302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.47; MB_Bottom_Detect_Filter_Max_Range = 179.88; MB_Bottom_Detect_Filter_Min_Depth = 37.47; MB_Bottom_Detect_Filter_Max_Depth = 179.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 117.240293 meters # Minimum depth: 826.475198 meters looking forward 200.000000 meters along route # Maximum depth: 829.472885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.475198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824999; longitude = -118.671779; captureRadius = 10; duration = 117; initialDepth = 754.475198; finalDepth = 751.433084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.346218 # Altitude Set: 74.346218 # Vehicle Depth:754.475198 # Seafloor Depth:-827.948856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 178.43; MB_Bottom_Detect_Filter_Min_Depth = 37.17; MB_Bottom_Detect_Filter_Max_Depth = 178.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 105.215685 meters # Minimum depth: 828.539898 meters looking forward 200.000000 meters along route # Maximum depth: 831.708158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.539898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823962; longitude = -118.672024; captureRadius = 10; duration = 105; initialDepth = 756.539898; finalDepth = 754.475198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.473658 # Altitude Set: 73.473658 # Vehicle Depth:756.539898 # Seafloor Depth:-829.782371 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 109.724969 meters # Minimum depth: 830.120106 meters looking forward 200.000000 meters along route # Maximum depth: 835.078242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.120106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823031; longitude = -118.672244; captureRadius = 10; duration = 109; initialDepth = 758.120106; finalDepth = 756.539898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.725414 # Altitude Set: 73.725414 # Vehicle Depth:758.120106 # Seafloor Depth:-831.845520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.94; 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 = 176.94; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 110.727062 meters # Minimum depth: 832.342416 meters looking forward 200.000000 meters along route # Maximum depth: 841.559070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.342416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822061; longitude = -118.672473; captureRadius = 10; duration = 110; initialDepth = 760.342416; finalDepth = 758.120106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.144256 # Altitude Set: 76.144256 # Vehicle Depth:760.342416 # Seafloor Depth:-836.486672 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 32 # Segment length 106.377642 meters # Minimum depth: 837.752284 meters looking forward 200.000000 meters along route # Maximum depth: 844.430099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.752284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821081; longitude = -118.672705; captureRadius = 10; duration = 106; initialDepth = 765.752284; finalDepth = 760.342416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.366043 # Altitude Set: 76.366043 # Vehicle Depth:765.752284 # Seafloor Depth:-842.118327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 183.28; MB_Bottom_Detect_Filter_Min_Depth = 38.18; MB_Bottom_Detect_Filter_Max_Depth = 183.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.674920 meters # Minimum depth: 842.906116 meters looking forward 200.000000 meters along route # Maximum depth: 845.767311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.906116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820159; longitude = -118.672387; captureRadius = 10; duration = 119; initialDepth = 770.906116; finalDepth = 765.752284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.366043 # Altitude Set: 76.366043 # Vehicle Depth:770.906116 # Seafloor Depth:-844.651171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 183.28; MB_Bottom_Detect_Filter_Min_Depth = 38.18; MB_Bottom_Detect_Filter_Max_Depth = 183.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.363515 meters # Minimum depth: 843.521903 meters looking forward 200.000000 meters along route # Maximum depth: 845.818336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.521903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819122; longitude = -118.672030; captureRadius = 10; duration = 102; initialDepth = 771.521903; finalDepth = 770.906116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.2964330000001 # Altitude Set: 74.2964330000001 # Vehicle Depth:771.521903 # Seafloor Depth:-845.818336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.15; MB_Bottom_Detect_Filter_Max_Range = 178.31; MB_Bottom_Detect_Filter_Min_Depth = 37.15; MB_Bottom_Detect_Filter_Max_Depth = 178.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 117.040705 meters # Minimum depth: 843.430797 meters looking forward 200.000000 meters along route # Maximum depth: 856.302632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.430797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818235; longitude = -118.671725; captureRadius = 10; duration = 117; initialDepth = 771.430797; finalDepth = 771.521903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.2964330000001 # Altitude Set: 74.2964330000001 # Vehicle Depth:771.430797 # Seafloor Depth:-843.503619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.15; MB_Bottom_Detect_Filter_Max_Range = 178.31; MB_Bottom_Detect_Filter_Min_Depth = 37.15; MB_Bottom_Detect_Filter_Max_Depth = 178.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675139 meters # Minimum depth: 844.129525 meters looking forward 200.000000 meters along route # Maximum depth: 858.681962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.129525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817221; longitude = -118.671376; captureRadius = 10; duration = 119; initialDepth = 772.129525; finalDepth = 771.430797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.1856710000001 # Altitude Set: 84.1856710000001 # Vehicle Depth:772.129525 # Seafloor Depth:-856.315196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.09; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 42.09; MB_Bottom_Detect_Filter_Max_Depth = 202.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675216 meters # Minimum depth: 857.325765 meters looking forward 200.000000 meters along route # Maximum depth: 860.684659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.325765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816184; longitude = -118.671019; captureRadius = 10; duration = 119; initialDepth = 785.325765; finalDepth = 772.129525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.1856710000001 # Altitude Set: 84.1856710000001 # Vehicle Depth:785.325765 # Seafloor Depth:-858.733973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.09; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 42.09; MB_Bottom_Detect_Filter_Max_Depth = 202.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675294 meters # Minimum depth: 859.289501 meters looking forward 200.000000 meters along route # Maximum depth: 862.182000 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.289501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815146; longitude = -118.670662; captureRadius = 10; duration = 119; initialDepth = 787.289501; finalDepth = 785.325765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.530752 # Altitude Set: 73.530752 # Vehicle Depth:787.289501 # Seafloor Depth:-860.820253 # behavior reson { duration = RESON_DURATION; 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 32 # Segment length 103.492847 meters # Minimum depth: 861.238595 meters looking forward 200.000000 meters along route # Maximum depth: 862.984959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.238595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814109; longitude = -118.670305; captureRadius = 10; duration = 103; initialDepth = 789.238595; finalDepth = 787.289501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.530752 # Altitude Set: 73.530752 # Vehicle Depth:789.238595 # Seafloor Depth:-862.318250 # behavior reson { duration = RESON_DURATION; 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 32 # Segment length 115.912058 meters # Minimum depth: 862.428376 meters looking forward 200.000000 meters along route # Maximum depth: 863.878162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.428376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813212; longitude = -118.669997; captureRadius = 10; duration = 115; initialDepth = 790.428376; finalDepth = 789.238595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.079655 # Altitude Set: 73.079655 # Vehicle Depth:790.428376 # Seafloor Depth:-863.027299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 175.39; MB_Bottom_Detect_Filter_Min_Depth = 36.54; MB_Bottom_Detect_Filter_Max_Depth = 175.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675512 meters # Minimum depth: 863.387077 meters looking forward 200.000000 meters along route # Maximum depth: 864.893020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.387077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812208; longitude = -118.669651; captureRadius = 10; duration = 119; initialDepth = 791.387077; finalDepth = 790.428376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.640267 # Altitude Set: 72.640267 # Vehicle Depth:791.387077 # Seafloor Depth:-864.027344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 174.34; MB_Bottom_Detect_Filter_Min_Depth = 36.32; MB_Bottom_Detect_Filter_Max_Depth = 174.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675590 meters # Minimum depth: 864.343153 meters looking forward 200.000000 meters along route # Maximum depth: 865.076467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.343153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.669294; captureRadius = 10; duration = 119; initialDepth = 792.343153; finalDepth = 791.387077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.640267 # Altitude Set: 72.640267 # Vehicle Depth:792.343153 # Seafloor Depth:-864.895682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 174.34; MB_Bottom_Detect_Filter_Min_Depth = 36.32; MB_Bottom_Detect_Filter_Max_Depth = 174.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675666 meters # Minimum depth: 864.857910 meters looking forward 200.000000 meters along route # Maximum depth: 865.981672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.857910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810134; longitude = -118.668937; captureRadius = 10; duration = 119; initialDepth = 792.857910; finalDepth = 792.343153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.5525289999999 # Altitude Set: 72.5525289999999 # Vehicle Depth:792.85791 # Seafloor Depth:-864.957627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.13; 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 = 174.13; MB_Bottom_Detect_Filter_Min_Depth = 36.28; MB_Bottom_Detect_Filter_Max_Depth = 174.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 119.675744 meters # Minimum depth: 864.857910 meters looking forward 200.000000 meters along route # Maximum depth: 867.388174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.857910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809097; longitude = -118.668580; captureRadius = 10; duration = 119; initialDepth = 792.857910; finalDepth = 792.857910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3835630000001 # Altitude Set: 73.3835630000001 # Vehicle Depth:792.85791 # Seafloor Depth:-866.241473 # behavior reson { duration = RESON_DURATION; 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 32 # Segment length 100.858864 meters # Minimum depth: 867.070723 meters looking forward 200.000000 meters along route # Maximum depth: 867.830113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.070723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808060; longitude = -118.668223; captureRadius = 10; duration = 100; initialDepth = 795.070723; finalDepth = 792.857910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3835630000001 # Altitude Set: 73.3835630000001 # Vehicle Depth:795.070723 # Seafloor Depth:-867.398732 # behavior reson { duration = RESON_DURATION; 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 32 # Segment length 118.546868 meters # Minimum depth: 867.176598 meters looking forward 200.000000 meters along route # Maximum depth: 867.830113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.176598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807185; longitude = -118.667922; captureRadius = 10; duration = 118; initialDepth = 795.176598; finalDepth = 795.070723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.6416809999999 # Altitude Set: 72.6416809999999 # Vehicle Depth:795.176598 # Seafloor Depth:-867.818279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 174.34; MB_Bottom_Detect_Filter_Min_Depth = 36.32; MB_Bottom_Detect_Filter_Max_Depth = 174.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 113.278189 meters # Minimum depth: 867.445211 meters looking forward 200.000000 meters along route # Maximum depth: 868.185942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.445211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.667569; captureRadius = 10; duration = 113; initialDepth = 795.445211; finalDepth = 795.176598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.6416809999999 # Altitude Set: 72.6416809999999 # Vehicle Depth:795.445211 # Seafloor Depth:-867.619732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 174.34; MB_Bottom_Detect_Filter_Min_Depth = 36.32; MB_Bottom_Detect_Filter_Max_Depth = 174.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.127802 meters # Minimum depth: 867.648086 meters looking forward 200.000000 meters along route # Maximum depth: 868.421956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.648086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805176; longitude = -118.667231; captureRadius = 10; duration = 106; initialDepth = 795.648086; finalDepth = 795.445211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.521202 # Altitude Set: 72.521202 # Vehicle Depth:795.648086 # Seafloor Depth:-868.169288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.26; MB_Bottom_Detect_Filter_Max_Range = 174.05; MB_Bottom_Detect_Filter_Min_Depth = 36.26; MB_Bottom_Detect_Filter_Max_Depth = 174.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.378756 meters # Minimum depth: 867.875615 meters looking forward 200.000000 meters along route # Maximum depth: 868.888337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.875615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804257; longitude = -118.666915; captureRadius = 10; duration = 106; initialDepth = 795.875615; finalDepth = 795.648086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.727122 # Altitude Set: 72.727122 # Vehicle Depth:795.875615 # Seafloor Depth:-868.602737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.55; 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 = 174.55; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 77.070926 meters # Minimum depth: 867.510369 meters looking forward 200.000000 meters along route # Maximum depth: 868.977783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.510369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803335; longitude = -118.666597; captureRadius = 10; duration = 77; initialDepth = 795.510369; finalDepth = 795.875615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4674140000001 # Altitude Set: 73.4674140000001 # Vehicle Depth:795.510369 # Seafloor Depth:-868.977783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.32; 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 = 176.32; MB_Bottom_Detect_Filter_Min_Depth = 36.73; MB_Bottom_Detect_Filter_Max_Depth = 176.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 115.606071 meters # Minimum depth: 865.504346 meters looking forward 200.000000 meters along route # Maximum depth: 868.977783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.504346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.666132; captureRadius = 10; duration = 115; initialDepth = 793.504346; finalDepth = 795.510369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.838454 # Altitude Set: 73.838454 # Vehicle Depth:793.504346 # Seafloor Depth:-867.342800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.21; 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 = 177.21; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 115.605691 meters # Minimum depth: 861.904988 meters looking forward 200.000000 meters along route # Maximum depth: 866.672775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.904988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804775; longitude = -118.665434; captureRadius = 10; duration = 115; initialDepth = 789.904988; finalDepth = 793.504346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.264317 # Altitude Set: 75.264317 # Vehicle Depth:789.904988 # Seafloor Depth:-865.169305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 180.63; MB_Bottom_Detect_Filter_Min_Depth = 37.63; MB_Bottom_Detect_Filter_Max_Depth = 180.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 115.605309 meters # Minimum depth: 858.526657 meters looking forward 200.000000 meters along route # Maximum depth: 864.098118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.526657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805640; longitude = -118.664736; captureRadius = 10; duration = 115; initialDepth = 786.526657; finalDepth = 789.904988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.264317 # Altitude Set: 75.264317 # Vehicle Depth:786.526657 # Seafloor Depth:-861.319280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 180.63; MB_Bottom_Detect_Filter_Min_Depth = 37.63; MB_Bottom_Detect_Filter_Max_Depth = 180.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.924958 meters # Minimum depth: 856.534993 meters looking forward 200.000000 meters along route # Maximum depth: 860.402924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.534993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806504; longitude = -118.664038; captureRadius = 10; duration = 100; initialDepth = 784.534993; finalDepth = 786.526657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.792623 # Altitude Set: 74.792623 # Vehicle Depth:784.534993 # Seafloor Depth:-858.117245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.50; 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 = 179.50; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.503601 meters # Minimum depth: 854.099597 meters looking forward 200.000000 meters along route # Maximum depth: 857.647325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.099597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807258; longitude = -118.663428; captureRadius = 10; duration = 114; initialDepth = 782.099597; finalDepth = 784.534993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.243736 # Altitude Set: 74.243736 # Vehicle Depth:782.099597 # Seafloor Depth:-856.343333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.18; 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 = 178.18; MB_Bottom_Detect_Filter_Min_Depth = 37.12; MB_Bottom_Detect_Filter_Max_Depth = 178.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.503227 meters # Minimum depth: 853.162343 meters looking forward 200.000000 meters along route # Maximum depth: 855.382328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.162343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808114; longitude = -118.662737; captureRadius = 10; duration = 114; initialDepth = 781.162343; finalDepth = 782.099597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.243736 # Altitude Set: 74.243736 # Vehicle Depth:781.162343 # Seafloor Depth:-853.963175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.18; 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 = 178.18; MB_Bottom_Detect_Filter_Min_Depth = 37.12; MB_Bottom_Detect_Filter_Max_Depth = 178.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.502853 meters # Minimum depth: 850.970216 meters looking forward 200.000000 meters along route # Maximum depth: 853.393134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.970216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808970; longitude = -118.662045; captureRadius = 10; duration = 114; initialDepth = 778.970216; finalDepth = 781.162343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.389095 # Altitude Set: 74.389095 # Vehicle Depth:778.970216 # Seafloor Depth:-853.359311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.19; MB_Bottom_Detect_Filter_Max_Range = 178.53; MB_Bottom_Detect_Filter_Min_Depth = 37.19; MB_Bottom_Detect_Filter_Max_Depth = 178.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.502479 meters # Minimum depth: 850.970216 meters looking forward 200.000000 meters along route # Maximum depth: 853.515019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.970216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809826; longitude = -118.661354; captureRadius = 10; duration = 114; initialDepth = 778.970216; finalDepth = 778.970216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.389095 # Altitude Set: 74.389095 # Vehicle Depth:778.970216 # Seafloor Depth:-851.029053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.19; MB_Bottom_Detect_Filter_Max_Range = 178.53; MB_Bottom_Detect_Filter_Min_Depth = 37.19; MB_Bottom_Detect_Filter_Max_Depth = 178.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.502105 meters # Minimum depth: 851.446244 meters looking forward 200.000000 meters along route # Maximum depth: 854.445913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.446244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810682; longitude = -118.660663; captureRadius = 10; duration = 114; initialDepth = 779.446244; finalDepth = 778.970216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.179077 # Altitude Set: 74.179077 # Vehicle Depth:779.446244 # Seafloor Depth:-853.625321 # behavior reson { duration = RESON_DURATION; 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 31 # Segment length 104.959935 meters # Minimum depth: 854.046043 meters looking forward 200.000000 meters along route # Maximum depth: 854.600470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.046043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811539; longitude = -118.659971; captureRadius = 10; duration = 104; initialDepth = 782.046043; finalDepth = 779.446244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.179077 # Altitude Set: 74.179077 # Vehicle Depth:782.046043 # Seafloor Depth:-854.446940 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 30 # Segment length 104.754238 meters # Minimum depth: 854.293277 meters looking forward 200.000000 meters along route # Maximum depth: 854.864658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.293277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812323; longitude = -118.659337; captureRadius = 10; duration = 104; initialDepth = 782.293277; finalDepth = 782.046043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.400897 # Altitude Set: 72.400897 # Vehicle Depth:782.293277 # Seafloor Depth:-854.685628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.20; MB_Bottom_Detect_Filter_Max_Range = 173.76; MB_Bottom_Detect_Filter_Min_Depth = 36.20; MB_Bottom_Detect_Filter_Max_Depth = 173.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.720538 meters # Minimum depth: 853.695406 meters looking forward 200.000000 meters along route # Maximum depth: 854.864658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.695406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811776; longitude = -118.658416; captureRadius = 10; duration = 104; initialDepth = 781.695406; finalDepth = 782.293277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.543832 # Altitude Set: 72.543832 # Vehicle Depth:781.695406 # Seafloor Depth:-854.239238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.27; MB_Bottom_Detect_Filter_Max_Range = 174.11; MB_Bottom_Detect_Filter_Min_Depth = 36.27; MB_Bottom_Detect_Filter_Max_Depth = 174.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 101.520284 meters # Minimum depth: 853.422290 meters looking forward 200.000000 meters along route # Maximum depth: 854.179464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.422290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811228; longitude = -118.657494; captureRadius = 10; duration = 101; initialDepth = 781.422290; finalDepth = 781.695406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.543832 # Altitude Set: 72.543832 # Vehicle Depth:781.42229 # Seafloor Depth:-853.682220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.27; MB_Bottom_Detect_Filter_Max_Range = 174.11; MB_Bottom_Detect_Filter_Min_Depth = 36.27; MB_Bottom_Detect_Filter_Max_Depth = 174.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.324485 meters # Minimum depth: 850.873423 meters looking forward 200.000000 meters along route # Maximum depth: 853.698425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.873423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810479; longitude = -118.658125; captureRadius = 10; duration = 102; initialDepth = 778.873423; finalDepth = 781.422290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.447951 # Altitude Set: 74.447951 # Vehicle Depth:778.873423 # Seafloor Depth:-853.321374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.22; MB_Bottom_Detect_Filter_Max_Range = 178.68; MB_Bottom_Detect_Filter_Min_Depth = 37.22; MB_Bottom_Detect_Filter_Max_Depth = 178.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 111.214914 meters # Minimum depth: 844.375212 meters looking forward 200.000000 meters along route # Maximum depth: 853.087864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.375212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809725; longitude = -118.658761; captureRadius = 10; duration = 111; initialDepth = 772.375212; finalDepth = 778.873423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.084789 # Altitude Set: 78.084789 # Vehicle Depth:772.375212 # Seafloor Depth:-850.460001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.40; 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 = 187.40; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 187.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 114.658001 meters # Minimum depth: 842.768448 meters looking forward 200.000000 meters along route # Maximum depth: 848.862472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.768448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808905; longitude = -118.659453; captureRadius = 10; duration = 114; initialDepth = 770.768448; finalDepth = 772.375212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.084789 # Altitude Set: 78.084789 # Vehicle Depth:770.768448 # Seafloor Depth:-844.277491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.40; 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 = 187.40; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 187.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 117.214135 meters # Minimum depth: 842.768448 meters looking forward 200.000000 meters along route # Maximum depth: 846.729152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.768448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808060; longitude = -118.660165; captureRadius = 10; duration = 117; initialDepth = 770.768448; finalDepth = 770.768448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.6761409999999 # Altitude Set: 73.6761409999999 # Vehicle Depth:770.768448 # Seafloor Depth:-844.444589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.82; 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 = 176.82; MB_Bottom_Detect_Filter_Min_Depth = 36.84; MB_Bottom_Detect_Filter_Max_Depth = 176.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.774822 meters # Minimum depth: 845.473984 meters looking forward 200.000000 meters along route # Maximum depth: 850.068898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.473984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807195; longitude = -118.660894; captureRadius = 10; duration = 101; initialDepth = 773.473984; finalDepth = 770.768448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.6761409999999 # Altitude Set: 73.6761409999999 # Vehicle Depth:773.473984 # Seafloor Depth:-846.990718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.82; 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 = 176.82; MB_Bottom_Detect_Filter_Min_Depth = 36.84; MB_Bottom_Detect_Filter_Max_Depth = 176.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 111.216391 meters # Minimum depth: 847.508538 meters looking forward 200.000000 meters along route # Maximum depth: 853.548105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.508538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806445; longitude = -118.661527; captureRadius = 10; duration = 111; initialDepth = 775.508538; finalDepth = 773.473984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.7918569999999 # Altitude Set: 74.7918569999999 # Vehicle Depth:775.508538 # Seafloor Depth:-850.300395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.50; 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 = 179.50; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 115.210550 meters # Minimum depth: 851.088944 meters looking forward 200.000000 meters along route # Maximum depth: 857.627336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.088944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805625; longitude = -118.662218; captureRadius = 10; duration = 115; initialDepth = 779.088944; finalDepth = 775.508538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.7918569999999 # Altitude Set: 74.7918569999999 # Vehicle Depth:779.088944 # Seafloor Depth:-853.601141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.50; 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 = 179.50; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 117.215694 meters # Minimum depth: 855.169239 meters looking forward 200.000000 meters along route # Maximum depth: 861.556176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.169239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804775; longitude = -118.662935; captureRadius = 10; duration = 117; initialDepth = 783.169239; finalDepth = 779.088944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.60202 # Altitude Set: 74.60202 # Vehicle Depth:783.169239 # Seafloor Depth:-857.771259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.04; 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 = 179.04; MB_Bottom_Detect_Filter_Min_Depth = 37.30; MB_Bottom_Detect_Filter_Max_Depth = 179.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.225143 meters # Minimum depth: 858.379524 meters looking forward 200.000000 meters along route # Maximum depth: 864.920878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.379524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803911; longitude = -118.663663; captureRadius = 10; duration = 101; initialDepth = 786.379524; finalDepth = 783.169239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.6254100000001 # Altitude Set: 75.6254100000001 # Vehicle Depth:786.379524 # Seafloor Depth:-862.004934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.50; 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 = 181.50; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 181.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.949698 meters # Minimum depth: 862.601661 meters looking forward 200.000000 meters along route # Maximum depth: 867.597518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.601661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803165; longitude = -118.664293; captureRadius = 10; duration = 101; initialDepth = 790.601661; finalDepth = 786.379524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.6254100000001 # Altitude Set: 75.6254100000001 # Vehicle Depth:790.601661 # Seafloor Depth:-865.151683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.50; 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 = 181.50; MB_Bottom_Detect_Filter_Min_Depth = 37.81; MB_Bottom_Detect_Filter_Max_Depth = 181.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 13.015954 meters # Minimum depth: 862.601661 meters looking forward 200.000000 meters along route # Maximum depth: 867.983724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.601661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802413; longitude = -118.664926; captureRadius = 10; duration = 13; initialDepth = 790.601661; finalDepth = 790.601661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.382063 # Altitude Set: 77.382063 # Vehicle Depth:790.601661 # Seafloor Depth:-867.983724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 185.72; MB_Bottom_Detect_Filter_Min_Depth = 38.69; MB_Bottom_Detect_Filter_Max_Depth = 185.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 117.143863 meters # Minimum depth: 866.412572 meters looking forward 200.000000 meters along route # Maximum depth: 867.983724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.412572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802346; longitude = -118.664811; captureRadius = 10; duration = 117; initialDepth = 794.412572; finalDepth = 790.601661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.382063 # Altitude Set: 77.382063 # Vehicle Depth:794.412572 # Seafloor Depth:-867.929823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 185.72; MB_Bottom_Detect_Filter_Min_Depth = 38.69; MB_Bottom_Detect_Filter_Max_Depth = 185.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.140585 meters # Minimum depth: 866.366541 meters looking forward 200.000000 meters along route # Maximum depth: 867.891306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.366541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801741; longitude = -118.663774; captureRadius = 10; duration = 104; initialDepth = 794.366541; finalDepth = 794.412572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5172510000001 # Altitude Set: 73.5172510000001 # Vehicle Depth:794.366541 # Seafloor Depth:-867.672830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 176.44; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 76.483366 meters # Minimum depth: 864.282353 meters looking forward 200.000000 meters along route # Maximum depth: 867.885841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.282353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801203; longitude = -118.662852; captureRadius = 10; duration = 76; initialDepth = 792.282353; finalDepth = 794.366541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.83842 # Altitude Set: 73.83842 # Vehicle Depth:792.282353 # Seafloor Depth:-866.120773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.21; 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 = 177.21; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.616477 meters # Minimum depth: 860.918711 meters looking forward 200.000000 meters along route # Maximum depth: 866.559007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.918711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801775; longitude = -118.662391; captureRadius = 10; duration = 100; initialDepth = 788.918711; finalDepth = 792.282353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.849696 # Altitude Set: 74.849696 # Vehicle Depth:788.918711 # Seafloor Depth:-863.768407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.64; 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 = 179.64; MB_Bottom_Detect_Filter_Min_Depth = 37.42; MB_Bottom_Detect_Filter_Max_Depth = 179.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.198931 meters # Minimum depth: 857.205557 meters looking forward 200.000000 meters along route # Maximum depth: 863.467577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.205557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.661785; captureRadius = 10; duration = 100; initialDepth = 785.205557; finalDepth = 788.918711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.183678 # Altitude Set: 75.183678 # Vehicle Depth:785.205557 # Seafloor Depth:-860.389235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.44; 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 = 180.44; MB_Bottom_Detect_Filter_Min_Depth = 37.59; MB_Bottom_Detect_Filter_Max_Depth = 180.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.751147 meters # Minimum depth: 852.208630 meters looking forward 200.000000 meters along route # Maximum depth: 859.610583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.208630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803278; longitude = -118.661181; captureRadius = 10; duration = 114; initialDepth = 780.208630; finalDepth = 785.205557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.721171 # Altitude Set: 76.721171 # Vehicle Depth:780.20863 # Seafloor Depth:-856.929801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.13; 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 = 184.13; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 184.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.750773 meters # Minimum depth: 847.258493 meters looking forward 200.000000 meters along route # Maximum depth: 855.296984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.258493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804137; longitude = -118.660490; captureRadius = 10; duration = 114; initialDepth = 775.258493; finalDepth = 780.208630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.721171 # Altitude Set: 76.721171 # Vehicle Depth:775.258493 # Seafloor Depth:-851.917898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.13; 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 = 184.13; MB_Bottom_Detect_Filter_Min_Depth = 38.36; MB_Bottom_Detect_Filter_Max_Depth = 184.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.750399 meters # Minimum depth: 841.984465 meters looking forward 200.000000 meters along route # Maximum depth: 850.336730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.984465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804995; longitude = -118.659798; captureRadius = 10; duration = 114; initialDepth = 769.984465; finalDepth = 775.258493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.9984439999999 # Altitude Set: 76.9984439999999 # Vehicle Depth:769.984465 # Seafloor Depth:-846.982909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 184.80; MB_Bottom_Detect_Filter_Min_Depth = 38.50; MB_Bottom_Detect_Filter_Max_Depth = 184.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.750025 meters # Minimum depth: 837.893677 meters looking forward 200.000000 meters along route # Maximum depth: 845.064924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.893677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805854; longitude = -118.659107; captureRadius = 10; duration = 114; initialDepth = 765.893677; finalDepth = 769.984465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.9984439999999 # Altitude Set: 76.9984439999999 # Vehicle Depth:765.893677 # Seafloor Depth:-841.869058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 184.80; MB_Bottom_Detect_Filter_Min_Depth = 38.50; MB_Bottom_Detect_Filter_Max_Depth = 184.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.749650 meters # Minimum depth: 837.468574 meters looking forward 200.000000 meters along route # Maximum depth: 841.027779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.468574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806713; longitude = -118.658416; captureRadius = 10; duration = 114; initialDepth = 765.468574; finalDepth = 765.893677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.975381 # Altitude Set: 75.975381 # Vehicle Depth:765.468574 # Seafloor Depth:-837.786291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.99; MB_Bottom_Detect_Filter_Max_Range = 182.34; MB_Bottom_Detect_Filter_Min_Depth = 37.99; MB_Bottom_Detect_Filter_Max_Depth = 182.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.749277 meters # Minimum depth: 837.507821 meters looking forward 200.000000 meters along route # Maximum depth: 846.371551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.507821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807572; longitude = -118.657724; captureRadius = 10; duration = 114; initialDepth = 765.507821; finalDepth = 765.468574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9158609999999 # Altitude Set: 73.9158609999999 # Vehicle Depth:765.507821 # Seafloor Depth:-839.423682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.96; MB_Bottom_Detect_Filter_Max_Range = 177.40; MB_Bottom_Detect_Filter_Min_Depth = 36.96; MB_Bottom_Detect_Filter_Max_Depth = 177.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 114.748902 meters # Minimum depth: 841.871342 meters looking forward 200.000000 meters along route # Maximum depth: 852.483511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.871342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808430; longitude = -118.657033; captureRadius = 10; duration = 114; initialDepth = 769.871342; finalDepth = 765.507821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.695575 # Altitude Set: 76.695575 # Vehicle Depth:769.871342 # Seafloor Depth:-846.566917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.35; MB_Bottom_Detect_Filter_Max_Range = 184.07; MB_Bottom_Detect_Filter_Min_Depth = 38.35; MB_Bottom_Detect_Filter_Max_Depth = 184.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.186165 meters # Minimum depth: 848.260855 meters looking forward 200.000000 meters along route # Maximum depth: 853.333181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.260855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809289; longitude = -118.656341; captureRadius = 10; duration = 105; initialDepth = 776.260855; finalDepth = 769.871342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.695575 # Altitude Set: 76.695575 # Vehicle Depth:776.260855 # Seafloor Depth:-852.542543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.35; MB_Bottom_Detect_Filter_Max_Range = 184.07; MB_Bottom_Detect_Filter_Min_Depth = 38.35; MB_Bottom_Detect_Filter_Max_Depth = 184.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 80.832597 meters # Minimum depth: 852.483511 meters looking forward 200.000000 meters along route # Maximum depth: 853.357910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.483511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810076; longitude = -118.655708; captureRadius = 10; duration = 80; initialDepth = 780.483511; finalDepth = 776.260855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.281688 # Altitude Set: 76.281688 # Vehicle Depth:780.483511 # Seafloor Depth:-853.357910 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 105.704522 meters # Minimum depth: 852.171753 meters looking forward 200.000000 meters along route # Maximum depth: 853.357910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.171753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809702; longitude = -118.654959; captureRadius = 10; duration = 105; initialDepth = 780.171753; finalDepth = 780.483511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.939148 # Altitude Set: 72.939148 # Vehicle Depth:780.171753 # Seafloor Depth:-853.110901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.05; 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 = 175.05; MB_Bottom_Detect_Filter_Min_Depth = 36.47; MB_Bottom_Detect_Filter_Max_Depth = 175.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 109.398662 meters # Minimum depth: 849.696692 meters looking forward 200.000000 meters along route # Maximum depth: 852.990845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.696692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809212; longitude = -118.653979; captureRadius = 10; duration = 109; initialDepth = 777.696692; finalDepth = 780.171753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1522660000001 # Altitude Set: 74.1522660000001 # Vehicle Depth:777.696692 # Seafloor Depth:-851.848958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.97; 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 = 177.97; MB_Bottom_Detect_Filter_Min_Depth = 37.08; MB_Bottom_Detect_Filter_Max_Depth = 177.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 103.765506 meters # Minimum depth: 845.735014 meters looking forward 200.000000 meters along route # Maximum depth: 851.769171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.735014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808405; longitude = -118.654659; captureRadius = 10; duration = 103; initialDepth = 773.735014; finalDepth = 777.696692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.704078 # Altitude Set: 75.704078 # Vehicle Depth:773.735014 # Seafloor Depth:-849.439092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 181.69; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 181.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 111.216626 meters # Minimum depth: 839.412660 meters looking forward 200.000000 meters along route # Maximum depth: 848.719030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.412660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807640; longitude = -118.655304; captureRadius = 10; duration = 111; initialDepth = 767.412660; finalDepth = 773.735014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.8097260000001 # Altitude Set: 77.8097260000001 # Vehicle Depth:767.41266 # Seafloor Depth:-845.222386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 186.74; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 186.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 113.215996 meters # Minimum depth: 834.160276 meters looking forward 200.000000 meters along route # Maximum depth: 843.809564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.160276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806820; longitude = -118.655996; captureRadius = 10; duration = 113; initialDepth = 762.160276; finalDepth = 767.412660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.8097260000001 # Altitude Set: 77.8097260000001 # Vehicle Depth:762.160276 # Seafloor Depth:-839.200954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.90; MB_Bottom_Detect_Filter_Max_Range = 186.74; MB_Bottom_Detect_Filter_Min_Depth = 38.90; MB_Bottom_Detect_Filter_Max_Depth = 186.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 117.214396 meters # Minimum depth: 833.778469 meters looking forward 200.000000 meters along route # Maximum depth: 837.674227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.778469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805985; longitude = -118.656699; captureRadius = 10; duration = 117; initialDepth = 761.778469; finalDepth = 762.160276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.0406780000001 # Altitude Set: 77.0406780000001 # Vehicle Depth:761.778469 # Seafloor Depth:-834.122892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 184.90; MB_Bottom_Detect_Filter_Min_Depth = 38.52; MB_Bottom_Detect_Filter_Max_Depth = 184.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 103.221699 meters # Minimum depth: 833.778469 meters looking forward 200.000000 meters along route # Maximum depth: 844.324897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.778469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805121; longitude = -118.657428; captureRadius = 10; duration = 103; initialDepth = 761.778469; finalDepth = 761.778469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.645979 # Altitude Set: 76.645979 # Vehicle Depth:761.778469 # Seafloor Depth:-838.424448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.95; 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 = 183.95; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 183.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 111.218102 meters # Minimum depth: 840.273617 meters looking forward 200.000000 meters along route # Maximum depth: 849.672035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.273617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804360; longitude = -118.658070; captureRadius = 10; duration = 111; initialDepth = 768.273617; finalDepth = 761.778469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.645979 # Altitude Set: 76.645979 # Vehicle Depth:768.273617 # Seafloor Depth:-844.849206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.95; 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 = 183.95; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 183.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 113.762689 meters # Minimum depth: 846.435589 meters looking forward 200.000000 meters along route # Maximum depth: 853.426626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.435589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803540; longitude = -118.658761; captureRadius = 10; duration = 113; initialDepth = 774.435589; finalDepth = 768.273617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.575589 # Altitude Set: 76.575589 # Vehicle Depth:774.435589 # Seafloor Depth:-849.795814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.29; MB_Bottom_Detect_Filter_Max_Range = 183.78; MB_Bottom_Detect_Filter_Min_Depth = 38.29; MB_Bottom_Detect_Filter_Max_Depth = 183.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 108.674623 meters # Minimum depth: 850.672546 meters looking forward 200.000000 meters along route # Maximum depth: 857.503929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.672546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802701; longitude = -118.659469; captureRadius = 10; duration = 108; initialDepth = 778.672546; finalDepth = 774.435589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.3602249999999 # Altitude Set: 75.3602249999999 # Vehicle Depth:778.672546 # Seafloor Depth:-853.513376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.86; 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 = 180.86; MB_Bottom_Detect_Filter_Min_Depth = 37.68; MB_Bottom_Detect_Filter_Max_Depth = 180.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.314390 meters # Minimum depth: 854.350113 meters looking forward 200.000000 meters along route # Maximum depth: 861.139443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.350113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801900; longitude = -118.660144; captureRadius = 10; duration = 102; initialDepth = 782.350113; finalDepth = 778.672546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.7885570000001 # Altitude Set: 75.7885570000001 # Vehicle Depth:782.350113 # Seafloor Depth:-858.138670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.89; 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 = 181.89; MB_Bottom_Detect_Filter_Min_Depth = 37.89; MB_Bottom_Detect_Filter_Max_Depth = 181.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.587776 meters # Minimum depth: 858.432213 meters looking forward 200.000000 meters along route # Maximum depth: 865.261732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.432213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801145; longitude = -118.660780; captureRadius = 10; duration = 101; initialDepth = 786.432213; finalDepth = 782.350113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.7885570000001 # Altitude Set: 75.7885570000001 # Vehicle Depth:786.432213 # Seafloor Depth:-861.926093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.89; 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 = 181.89; MB_Bottom_Detect_Filter_Min_Depth = 37.89; MB_Bottom_Detect_Filter_Max_Depth = 181.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 104.734542 meters # Minimum depth: 862.273195 meters looking forward 200.000000 meters along route # Maximum depth: 865.582357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.273195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800396; longitude = -118.661412; captureRadius = 10; duration = 104; initialDepth = 790.273195; finalDepth = 786.432213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.49388 # Altitude Set: 75.49388 # Vehicle Depth:790.273195 # Seafloor Depth:-865.582357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 181.19; MB_Bottom_Detect_Filter_Min_Depth = 37.75; MB_Bottom_Detect_Filter_Max_Depth = 181.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.726157 meters # Minimum depth: 863.446808 meters looking forward 200.000000 meters along route # Maximum depth: 865.457783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.446808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799849; longitude = -118.660490; captureRadius = 10; duration = 104; initialDepth = 791.446808; finalDepth = 790.273195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.309162 # Altitude Set: 75.309162 # Vehicle Depth:791.446808 # Seafloor Depth:-864.632271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.74; 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 = 180.74; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 109.362279 meters # Minimum depth: 860.467572 meters looking forward 200.000000 meters along route # Maximum depth: 864.495647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.467572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799302; longitude = -118.659568; captureRadius = 10; duration = 109; initialDepth = 788.467572; finalDepth = 791.446808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.74277 # Altitude Set: 74.74277 # Vehicle Depth:788.467572 # Seafloor Depth:-863.210342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.37; MB_Bottom_Detect_Filter_Max_Range = 179.38; MB_Bottom_Detect_Filter_Min_Depth = 37.37; MB_Bottom_Detect_Filter_Max_Depth = 179.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 103.814835 meters # Minimum depth: 856.995054 meters looking forward 200.000000 meters along route # Maximum depth: 862.842103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.995054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800108; longitude = -118.658888; captureRadius = 10; duration = 103; initialDepth = 784.995054; finalDepth = 788.467572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.124627 # Altitude Set: 75.124627 # Vehicle Depth:784.995054 # Seafloor Depth:-860.119681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.56; MB_Bottom_Detect_Filter_Max_Range = 180.30; MB_Bottom_Detect_Filter_Min_Depth = 37.56; MB_Bottom_Detect_Filter_Max_Depth = 180.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 111.215810 meters # Minimum depth: 852.452779 meters looking forward 200.000000 meters along route # Maximum depth: 859.282903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.452779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800874; longitude = -118.658243; captureRadius = 10; duration = 111; initialDepth = 780.452779; finalDepth = 784.995054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.066197 # Altitude Set: 76.066197 # Vehicle Depth:780.452779 # Seafloor Depth:-856.518976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.56; 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 = 182.56; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 182.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 113.179919 meters # Minimum depth: 848.693058 meters looking forward 200.000000 meters along route # Maximum depth: 855.230643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.693058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801694; longitude = -118.657551; captureRadius = 10; duration = 113; initialDepth = 776.693058; finalDepth = 780.452779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.066197 # Altitude Set: 76.066197 # Vehicle Depth:776.693058 # Seafloor Depth:-852.388402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.56; 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 = 182.56; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 182.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 117.217280 meters # Minimum depth: 836.351694 meters looking forward 200.000000 meters along route # Maximum depth: 851.311816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.351694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.656848; captureRadius = 10; duration = 117; initialDepth = 764.351694; finalDepth = 776.693058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.2639710000001 # Altitude Set: 84.2639710000001 # Vehicle Depth:764.351694 # Seafloor Depth:-848.615665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.13; MB_Bottom_Detect_Filter_Max_Range = 202.23; MB_Bottom_Detect_Filter_Min_Depth = 42.13; MB_Bottom_Detect_Filter_Max_Depth = 202.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 103.248018 meters # Minimum depth: 826.186269 meters looking forward 200.000000 meters along route # Maximum depth: 847.521008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.186269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.656119; captureRadius = 10; duration = 103; initialDepth = 754.186269; finalDepth = 764.351694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.2639710000001 # Altitude Set: 84.2639710000001 # Vehicle Depth:754.186269 # Seafloor Depth:-834.841527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.13; MB_Bottom_Detect_Filter_Max_Range = 202.23; MB_Bottom_Detect_Filter_Min_Depth = 42.13; MB_Bottom_Detect_Filter_Max_Depth = 202.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 111.214334 meters # Minimum depth: 826.021355 meters looking forward 200.000000 meters along route # Maximum depth: 831.553931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.021355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804154; longitude = -118.655477; captureRadius = 10; duration = 111; initialDepth = 754.021355; finalDepth = 754.186269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.655258 # Altitude Set: 80.655258 # Vehicle Depth:754.021355 # Seafloor Depth:-826.069019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 193.57; MB_Bottom_Detect_Filter_Min_Depth = 40.33; MB_Bottom_Detect_Filter_Max_Depth = 193.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 113.743849 meters # Minimum depth: 826.263056 meters looking forward 200.000000 meters along route # Maximum depth: 836.365869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.263056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804974; longitude = -118.654786; captureRadius = 10; duration = 113; initialDepth = 754.263056; finalDepth = 754.021355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.434014 # Altitude Set: 76.434014 # Vehicle Depth:754.263056 # Seafloor Depth:-830.697070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.44; 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 = 183.44; MB_Bottom_Detect_Filter_Min_Depth = 38.22; MB_Bottom_Detect_Filter_Max_Depth = 183.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.683712 meters # Minimum depth: 832.212804 meters looking forward 200.000000 meters along route # Maximum depth: 841.031873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.212804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805812; longitude = -118.654079; captureRadius = 10; duration = 108; initialDepth = 760.212804; finalDepth = 754.263056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.434014 # Altitude Set: 76.434014 # Vehicle Depth:760.212804 # Seafloor Depth:-836.476170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.44; 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 = 183.44; MB_Bottom_Detect_Filter_Min_Depth = 38.22; MB_Bottom_Detect_Filter_Max_Depth = 183.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.304292 meters # Minimum depth: 837.433383 meters looking forward 200.000000 meters along route # Maximum depth: 844.569257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.433383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806614; longitude = -118.653403; captureRadius = 10; duration = 102; initialDepth = 765.433383; finalDepth = 760.212804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.263366 # Altitude Set: 76.263366 # Vehicle Depth:765.433383 # Seafloor Depth:-841.686870 # behavior reson { duration = RESON_DURATION; 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 23 # Segment length 101.586343 meters # Minimum depth: 842.014961 meters looking forward 200.000000 meters along route # Maximum depth: 847.329265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.014961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807368; longitude = -118.652767; captureRadius = 10; duration = 101; initialDepth = 770.014961; finalDepth = 765.433383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.253487 # Altitude Set: 76.253487 # Vehicle Depth:770.014961 # Seafloor Depth:-845.104573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.01; 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 = 183.01; MB_Bottom_Detect_Filter_Min_Depth = 38.13; MB_Bottom_Detect_Filter_Max_Depth = 183.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 91.969591 meters # Minimum depth: 845.104573 meters looking forward 200.000000 meters along route # Maximum depth: 847.533122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.104573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808117; longitude = -118.652135; captureRadius = 10; duration = 91; initialDepth = 773.104573; finalDepth = 770.014961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.089612 # Altitude Set: 75.089612 # Vehicle Depth:773.104573 # Seafloor Depth:-847.533122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.54; MB_Bottom_Detect_Filter_Max_Range = 180.22; MB_Bottom_Detect_Filter_Min_Depth = 37.54; MB_Bottom_Detect_Filter_Max_Depth = 180.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.108488 meters # Minimum depth: 844.887919 meters looking forward 200.000000 meters along route # Maximum depth: 847.533122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.887919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807633; longitude = -118.651329; captureRadius = 10; duration = 105; initialDepth = 772.887919; finalDepth = 773.104573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.4285490000001 # Altitude Set: 74.4285490000001 # Vehicle Depth:772.887919 # Seafloor Depth:-846.262215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.63; 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 = 178.63; MB_Bottom_Detect_Filter_Min_Depth = 37.21; MB_Bottom_Detect_Filter_Max_Depth = 178.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 9.127722 meters # Minimum depth: 844.554520 meters looking forward 200.000000 meters along route # Maximum depth: 847.285963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.554520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807080; longitude = -118.650407; captureRadius = 10; duration = 9; initialDepth = 772.554520; finalDepth = 772.887919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.374296 # Altitude Set: 73.374296 # Vehicle Depth:772.55452 # Seafloor Depth:-844.788330 # behavior reson { duration = RESON_DURATION; 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 21 # Segment length 116.870859 meters # Minimum depth: 842.423813 meters looking forward 200.000000 meters along route # Maximum depth: 845.467773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.423813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807013; longitude = -118.650464; captureRadius = 10; duration = 116; initialDepth = 770.423813; finalDepth = 772.554520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.097585 # Altitude Set: 74.097585 # Vehicle Depth:770.423813 # Seafloor Depth:-844.521398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.83; 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 = 177.83; MB_Bottom_Detect_Filter_Min_Depth = 37.05; MB_Bottom_Detect_Filter_Max_Depth = 177.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.195229 meters # Minimum depth: 837.963654 meters looking forward 200.000000 meters along route # Maximum depth: 843.969526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.963654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806158; longitude = -118.651202; captureRadius = 10; duration = 102; initialDepth = 765.963654; finalDepth = 770.423813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.240946 # Altitude Set: 76.240946 # Vehicle Depth:765.963654 # Seafloor Depth:-842.204600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 182.98; MB_Bottom_Detect_Filter_Min_Depth = 38.12; MB_Bottom_Detect_Filter_Max_Depth = 182.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.428477 meters # Minimum depth: 832.036266 meters looking forward 200.000000 meters along route # Maximum depth: 841.466466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.036266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805410; longitude = -118.651847; captureRadius = 10; duration = 110; initialDepth = 760.036266; finalDepth = 765.963654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.549844 # Altitude Set: 77.549844 # Vehicle Depth:760.036266 # Seafloor Depth:-837.586110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 186.12; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 186.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 118.124877 meters # Minimum depth: 826.523188 meters looking forward 200.000000 meters along route # Maximum depth: 835.763930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.523188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804602; longitude = -118.652544; captureRadius = 10; duration = 118; initialDepth = 754.523188; finalDepth = 760.036266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.549844 # Altitude Set: 77.549844 # Vehicle Depth:754.523188 # Seafloor Depth:-831.990369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 186.12; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 186.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.048525 meters # Minimum depth: 824.651260 meters looking forward 200.000000 meters along route # Maximum depth: 830.913412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 752.651260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.653290; captureRadius = 10; duration = 100; initialDepth = 752.651260; finalDepth = 754.523188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.467181 # Altitude Set: 77.467181 # Vehicle Depth:752.65126 # Seafloor Depth:-826.022366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 185.92; MB_Bottom_Detect_Filter_Min_Depth = 38.73; MB_Bottom_Detect_Filter_Max_Depth = 185.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 112.577328 meters # Minimum depth: 824.651260 meters looking forward 200.000000 meters along route # Maximum depth: 831.865459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 752.651260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803006; longitude = -118.653921; captureRadius = 10; duration = 112; initialDepth = 752.651260; finalDepth = 752.651260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.3711060000001 # Altitude Set: 73.3711060000001 # Vehicle Depth:752.65126 # Seafloor Depth:-824.883897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.09; 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 = 176.09; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.492424 meters # Minimum depth: 824.972014 meters looking forward 200.000000 meters along route # Maximum depth: 844.532021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 752.972014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802183; longitude = -118.654632; captureRadius = 10; duration = 106; initialDepth = 752.972014; finalDepth = 752.651260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.3131490000001 # Altitude Set: 79.3131490000001 # Vehicle Depth:752.972014 # Seafloor Depth:-832.285163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 190.35; MB_Bottom_Detect_Filter_Min_Depth = 39.66; MB_Bottom_Detect_Filter_Max_Depth = 190.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.535425 meters # Minimum depth: 835.231548 meters looking forward 200.000000 meters along route # Maximum depth: 851.731293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 763.231548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801403; longitude = -118.655304; captureRadius = 10; duration = 109; initialDepth = 763.231548; finalDepth = 752.972014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.7250250000001 # Altitude Set: 82.7250250000001 # Vehicle Depth:763.231548 # Seafloor Depth:-845.956573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 198.54; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 198.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 114.726223 meters # Minimum depth: 848.341838 meters looking forward 200.000000 meters along route # Maximum depth: 855.828128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.341838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800602; longitude = -118.655996; captureRadius = 10; duration = 114; initialDepth = 776.341838; finalDepth = 763.231548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.7250250000001 # Altitude Set: 82.7250250000001 # Vehicle Depth:776.341838 # Seafloor Depth:-851.874683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 198.54; MB_Bottom_Detect_Filter_Min_Depth = 41.36; MB_Bottom_Detect_Filter_Max_Depth = 198.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.345727 meters # Minimum depth: 852.660404 meters looking forward 200.000000 meters along route # Maximum depth: 859.211630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.660404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.656720; captureRadius = 10; duration = 104; initialDepth = 780.660404; finalDepth = 776.341838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.532845 # Altitude Set: 75.532845 # Vehicle Depth:780.660404 # Seafloor Depth:-855.963053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.77; MB_Bottom_Detect_Filter_Max_Range = 181.28; MB_Bottom_Detect_Filter_Min_Depth = 37.77; MB_Bottom_Detect_Filter_Max_Depth = 181.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.408468 meters # Minimum depth: 856.482292 meters looking forward 200.000000 meters along route # Maximum depth: 861.879248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.482292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798999; longitude = -118.657378; captureRadius = 10; duration = 100; initialDepth = 784.482292; finalDepth = 780.660404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.302649 # Altitude Set: 75.302649 # Vehicle Depth:784.482292 # Seafloor Depth:-859.355967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.73; 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 = 180.73; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 108.334868 meters # Minimum depth: 859.607893 meters looking forward 200.000000 meters along route # Maximum depth: 862.206624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.607893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798265; longitude = -118.658012; captureRadius = 10; duration = 108; initialDepth = 787.607893; finalDepth = 784.482292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8736749999999 # Altitude Set: 74.8736749999999 # Vehicle Depth:787.607893 # Seafloor Depth:-862.206624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 179.70; MB_Bottom_Detect_Filter_Min_Depth = 37.44; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.962623 meters # Minimum depth: 859.921543 meters looking forward 200.000000 meters along route # Maximum depth: 862.060625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.921543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797730; longitude = -118.657033; captureRadius = 10; duration = 101; initialDepth = 787.921543; finalDepth = 787.607893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.598731 # Altitude Set: 74.598731 # Vehicle Depth:787.921543 # Seafloor Depth:-860.946652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.04; 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 = 179.04; MB_Bottom_Detect_Filter_Min_Depth = 37.30; MB_Bottom_Detect_Filter_Max_Depth = 179.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 109.404188 meters # Minimum depth: 856.815101 meters looking forward 200.000000 meters along route # Maximum depth: 860.672293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.815101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797227; longitude = -118.656111; captureRadius = 10; duration = 109; initialDepth = 784.815101; finalDepth = 787.921543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.10596 # Altitude Set: 75.10596 # Vehicle Depth:784.815101 # Seafloor Depth:-859.921061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.25; 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 = 180.25; MB_Bottom_Detect_Filter_Min_Depth = 37.55; MB_Bottom_Detect_Filter_Max_Depth = 180.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.764895 meters # Minimum depth: 854.024495 meters looking forward 200.000000 meters along route # Maximum depth: 859.453017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.024495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798034; longitude = -118.655431; captureRadius = 10; duration = 103; initialDepth = 782.024495; finalDepth = 784.815101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.10596 # Altitude Set: 75.10596 # Vehicle Depth:782.024495 # Seafloor Depth:-856.572133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.25; 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 = 180.25; MB_Bottom_Detect_Filter_Min_Depth = 37.55; MB_Bottom_Detect_Filter_Max_Depth = 180.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 111.218113 meters # Minimum depth: 848.096990 meters looking forward 200.000000 meters along route # Maximum depth: 855.933801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.096990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798799; longitude = -118.654786; captureRadius = 10; duration = 111; initialDepth = 776.096990; finalDepth = 782.024495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.533227 # Altitude Set: 77.533227 # Vehicle Depth:776.09699 # Seafloor Depth:-853.630217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 186.08; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 186.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 113.227414 meters # Minimum depth: 836.385963 meters looking forward 200.000000 meters along route # Maximum depth: 852.717690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.385963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799619; longitude = -118.654094; captureRadius = 10; duration = 113; initialDepth = 764.385963; finalDepth = 776.096990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.3077910000001 # Altitude Set: 83.3077910000001 # Vehicle Depth:764.385963 # Seafloor Depth:-847.693754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 199.94; MB_Bottom_Detect_Filter_Min_Depth = 41.65; MB_Bottom_Detect_Filter_Max_Depth = 199.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 117.217229 meters # Minimum depth: 825.642009 meters looking forward 200.000000 meters along route # Maximum depth: 842.937347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.642009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800454; longitude = -118.653390; captureRadius = 10; duration = 117; initialDepth = 753.642009; finalDepth = 764.385963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.3077910000001 # Altitude Set: 83.3077910000001 # Vehicle Depth:753.642009 # Seafloor Depth:-836.210957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 199.94; MB_Bottom_Detect_Filter_Min_Depth = 41.65; MB_Bottom_Detect_Filter_Max_Depth = 199.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.207484 meters # Minimum depth: 822.454331 meters looking forward 200.000000 meters along route # Maximum depth: 834.195163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.454331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.652662; captureRadius = 10; duration = 103; initialDepth = 750.454331; finalDepth = 753.642009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.568948 # Altitude Set: 82.568948 # Vehicle Depth:750.454331 # Seafloor Depth:-824.877057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.28; MB_Bottom_Detect_Filter_Max_Range = 198.17; MB_Bottom_Detect_Filter_Min_Depth = 41.28; MB_Bottom_Detect_Filter_Max_Depth = 198.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 111.216637 meters # Minimum depth: 822.260634 meters looking forward 200.000000 meters along route # Maximum depth: 823.904108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.260634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802079; longitude = -118.652020; captureRadius = 10; duration = 111; initialDepth = 750.260634; finalDepth = 750.454331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.422726 # Altitude Set: 74.422726 # Vehicle Depth:750.260634 # Seafloor Depth:-822.452073 # behavior reson { duration = RESON_DURATION; 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 19 # Segment length 113.781940 meters # Minimum depth: 822.260634 meters looking forward 200.000000 meters along route # Maximum depth: 829.611915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 750.260634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802899; longitude = -118.651329; captureRadius = 10; duration = 113; initialDepth = 750.260634; finalDepth = 750.260634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.830287 # Altitude Set: 73.830287 # Vehicle Depth:750.260634 # Seafloor Depth:-824.090921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.19; 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 = 177.19; MB_Bottom_Detect_Filter_Min_Depth = 36.92; MB_Bottom_Detect_Filter_Max_Depth = 177.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.650228 meters # Minimum depth: 825.750151 meters looking forward 200.000000 meters along route # Maximum depth: 835.289578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 753.750151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803738; longitude = -118.650621; captureRadius = 10; duration = 108; initialDepth = 753.750151; finalDepth = 750.260634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.996847 # Altitude Set: 75.996847 # Vehicle Depth:753.750151 # Seafloor Depth:-829.746998 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 182.39; MB_Bottom_Detect_Filter_Min_Depth = 38.00; MB_Bottom_Detect_Filter_Max_Depth = 182.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 102.337685 meters # Minimum depth: 831.068658 meters looking forward 200.000000 meters along route # Maximum depth: 839.165693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 759.068658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804539; longitude = -118.649946; captureRadius = 10; duration = 102; initialDepth = 759.068658; finalDepth = 753.750151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8457569999999 # Altitude Set: 76.8457569999999 # Vehicle Depth:759.068658 # Seafloor Depth:-835.914415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.42; MB_Bottom_Detect_Filter_Max_Range = 184.43; MB_Bottom_Detect_Filter_Min_Depth = 38.42; MB_Bottom_Detect_Filter_Max_Depth = 184.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.597865 meters # Minimum depth: 836.230789 meters looking forward 200.000000 meters along route # Maximum depth: 841.892763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.230789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805294; longitude = -118.649310; captureRadius = 10; duration = 101; initialDepth = 764.230789; finalDepth = 759.068658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8457569999999 # Altitude Set: 76.8457569999999 # Vehicle Depth:764.230789 # Seafloor Depth:-839.769030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.42; MB_Bottom_Detect_Filter_Max_Range = 184.43; MB_Bottom_Detect_Filter_Min_Depth = 38.42; MB_Bottom_Detect_Filter_Max_Depth = 184.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 91.948132 meters # Minimum depth: 839.769030 meters looking forward 200.000000 meters along route # Maximum depth: 842.098068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.769030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806043; longitude = -118.648678; captureRadius = 10; duration = 91; initialDepth = 767.769030; finalDepth = 764.230789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.5382410000001 # Altitude Set: 75.5382410000001 # Vehicle Depth:767.76903 # Seafloor Depth:-842.098068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.77; MB_Bottom_Detect_Filter_Max_Range = 181.29; MB_Bottom_Detect_Filter_Min_Depth = 37.77; MB_Bottom_Detect_Filter_Max_Depth = 181.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.086598 meters # Minimum depth: 839.679499 meters looking forward 200.000000 meters along route # Maximum depth: 842.098068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.679499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805559; longitude = -118.647872; captureRadius = 10; duration = 105; initialDepth = 767.679499; finalDepth = 767.769030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.329038 # Altitude Set: 74.329038 # Vehicle Depth:767.679499 # Seafloor Depth:-840.975630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 178.39; MB_Bottom_Detect_Filter_Min_Depth = 37.16; MB_Bottom_Detect_Filter_Max_Depth = 178.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 101.570582 meters # Minimum depth: 837.577558 meters looking forward 200.000000 meters along route # Maximum depth: 840.681734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.577558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805006; longitude = -118.646950; captureRadius = 10; duration = 101; initialDepth = 765.577558; finalDepth = 767.679499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.118151 # Altitude Set: 74.118151 # Vehicle Depth:765.577558 # Seafloor Depth:-839.695709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.88; 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 = 177.88; MB_Bottom_Detect_Filter_Min_Depth = 37.06; MB_Bottom_Detect_Filter_Max_Depth = 177.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.455495 meters # Minimum depth: 833.863443 meters looking forward 200.000000 meters along route # Maximum depth: 839.539873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.863443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804257; longitude = -118.647581; captureRadius = 10; duration = 102; initialDepth = 761.863443; finalDepth = 765.577558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.5056040000001 # Altitude Set: 75.5056040000001 # Vehicle Depth:761.863443 # Seafloor Depth:-837.369047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 181.21; MB_Bottom_Detect_Filter_Min_Depth = 37.75; MB_Bottom_Detect_Filter_Max_Depth = 181.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 111.310833 meters # Minimum depth: 827.751465 meters looking forward 200.000000 meters along route # Maximum depth: 836.790743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 755.751465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803501; longitude = -118.648217; captureRadius = 10; duration = 111; initialDepth = 755.751465; finalDepth = 761.863443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.6830349999999 # Altitude Set: 77.6830349999999 # Vehicle Depth:755.751465 # Seafloor Depth:-833.434500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.44; 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 = 186.44; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 114.300741 meters # Minimum depth: 821.906344 meters looking forward 200.000000 meters along route # Maximum depth: 831.796351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 749.906344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802680; longitude = -118.648909; captureRadius = 10; duration = 114; initialDepth = 749.906344; finalDepth = 755.751465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.76361 # Altitude Set: 77.76361 # Vehicle Depth:749.906344 # Seafloor Depth:-827.669954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 186.63; MB_Bottom_Detect_Filter_Min_Depth = 38.88; MB_Bottom_Detect_Filter_Max_Depth = 186.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 117.167587 meters # Minimum depth: 820.190383 meters looking forward 200.000000 meters along route # Maximum depth: 825.583148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.190383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801837; longitude = -118.649619; captureRadius = 10; duration = 117; initialDepth = 748.190383; finalDepth = 749.906344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.76361 # Altitude Set: 77.76361 # Vehicle Depth:748.190383 # Seafloor Depth:-821.768143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 186.63; MB_Bottom_Detect_Filter_Min_Depth = 38.88; MB_Bottom_Detect_Filter_Max_Depth = 186.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.466386 meters # Minimum depth: 820.034832 meters looking forward 200.000000 meters along route # Maximum depth: 824.717811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.034832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800973; longitude = -118.650346; captureRadius = 10; duration = 102; initialDepth = 748.034832; finalDepth = 748.190383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.57776 # Altitude Set: 73.57776 # Vehicle Depth:748.034832 # Seafloor Depth:-820.070344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.59; 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 = 176.59; MB_Bottom_Detect_Filter_Min_Depth = 36.79; MB_Bottom_Detect_Filter_Max_Depth = 176.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 111.312310 meters # Minimum depth: 820.034832 meters looking forward 200.000000 meters along route # Maximum depth: 838.913230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.034832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800217; longitude = -118.650983; captureRadius = 10; duration = 111; initialDepth = 748.034832; finalDepth = 748.034832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.673052 # Altitude Set: 77.673052 # Vehicle Depth:748.034832 # Seafloor Depth:-825.707884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.42; 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 = 186.42; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 114.292724 meters # Minimum depth: 829.207246 meters looking forward 200.000000 meters along route # Maximum depth: 847.634565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.207246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799396; longitude = -118.651674; captureRadius = 10; duration = 114; initialDepth = 757.207246; finalDepth = 748.034832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.0367189999999 # Altitude Set: 82.0367189999999 # Vehicle Depth:757.207246 # Seafloor Depth:-839.243965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 196.89; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 196.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.333003 meters # Minimum depth: 842.174169 meters looking forward 200.000000 meters along route # Maximum depth: 851.486138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 770.174169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798553; longitude = -118.652384; captureRadius = 10; duration = 108; initialDepth = 770.174169; finalDepth = 757.207246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.0367189999999 # Altitude Set: 82.0367189999999 # Vehicle Depth:770.174169 # Seafloor Depth:-847.804005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 196.89; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 196.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.571746 meters # Minimum depth: 848.966158 meters looking forward 200.000000 meters along route # Maximum depth: 853.929614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.966158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797754; longitude = -118.653057; captureRadius = 10; duration = 102; initialDepth = 776.966158; finalDepth = 770.174169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.629836 # Altitude Set: 77.629836 # Vehicle Depth:776.966158 # Seafloor Depth:-851.887765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 186.31; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 186.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.543647 meters # Minimum depth: 852.122075 meters looking forward 200.000000 meters along route # Maximum depth: 857.145087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.122075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796997; longitude = -118.653694; captureRadius = 10; duration = 101; initialDepth = 780.122075; finalDepth = 776.966158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.921607 # Altitude Set: 74.921607 # Vehicle Depth:780.122075 # Seafloor Depth:-854.840244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 179.81; MB_Bottom_Detect_Filter_Min_Depth = 37.46; MB_Bottom_Detect_Filter_Max_Depth = 179.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 87.625339 meters # Minimum depth: 854.840244 meters looking forward 200.000000 meters along route # Maximum depth: 857.313904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.840244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796248; longitude = -118.654325; captureRadius = 10; duration = 87; initialDepth = 782.840244; finalDepth = 780.122075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.718169 # Altitude Set: 74.718169 # Vehicle Depth:782.840244 # Seafloor Depth:-857.313904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.32; 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 = 179.32; MB_Bottom_Detect_Filter_Min_Depth = 37.36; MB_Bottom_Detect_Filter_Max_Depth = 179.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.499679 meters # Minimum depth: 856.424630 meters looking forward 200.000000 meters along route # Maximum depth: 857.313904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.424630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795787; longitude = -118.653556; captureRadius = 10; duration = 109; initialDepth = 784.424630; finalDepth = 782.840244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.47366 # Altitude Set: 74.47366 # Vehicle Depth:784.42463 # Seafloor Depth:-856.814615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 178.74; MB_Bottom_Detect_Filter_Min_Depth = 37.24; MB_Bottom_Detect_Filter_Max_Depth = 178.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 64.041298 meters # Minimum depth: 856.062577 meters looking forward 200.000000 meters along route # Maximum depth: 856.928942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.062577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795211; longitude = -118.652596; captureRadius = 10; duration = 64; initialDepth = 784.062577; finalDepth = 784.424630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.752929 # Altitude Set: 72.752929 # Vehicle Depth:784.062577 # Seafloor Depth:-856.815506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.38; MB_Bottom_Detect_Filter_Max_Range = 174.61; MB_Bottom_Detect_Filter_Min_Depth = 36.38; MB_Bottom_Detect_Filter_Max_Depth = 174.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.847259 meters # Minimum depth: 852.045494 meters looking forward 200.000000 meters along route # Maximum depth: 856.815506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.045494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795680; longitude = -118.652193; captureRadius = 10; duration = 109; initialDepth = 780.045494; finalDepth = 784.062577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.856675 # Altitude Set: 75.856675 # Vehicle Depth:780.045494 # Seafloor Depth:-855.902169 # behavior reson { duration = RESON_DURATION; 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 15 # Segment length 117.051180 meters # Minimum depth: 847.985528 meters looking forward 200.000000 meters along route # Maximum depth: 855.231360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.985528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796485; longitude = -118.651502; captureRadius = 10; duration = 117; initialDepth = 775.985528; finalDepth = 780.045494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.0328499999999 # Altitude Set: 76.0328499999999 # Vehicle Depth:775.985528 # Seafloor Depth:-852.018378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.48; 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 = 182.48; MB_Bottom_Detect_Filter_Min_Depth = 38.02; MB_Bottom_Detect_Filter_Max_Depth = 182.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.642238 meters # Minimum depth: 844.139694 meters looking forward 200.000000 meters along route # Maximum depth: 851.458750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 772.139694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797343; longitude = -118.650765; captureRadius = 10; duration = 102; initialDepth = 772.139694; finalDepth = 775.985528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.0328499999999 # Altitude Set: 76.0328499999999 # Vehicle Depth:772.139694 # Seafloor Depth:-847.761245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.48; 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 = 182.48; MB_Bottom_Detect_Filter_Min_Depth = 38.02; MB_Bottom_Detect_Filter_Max_Depth = 182.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.846159 meters # Minimum depth: 834.329568 meters looking forward 200.000000 meters along route # Maximum depth: 847.034842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.329568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798095; longitude = -118.650119; captureRadius = 10; duration = 109; initialDepth = 762.329568; finalDepth = 772.139694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.2986080000001 # Altitude Set: 81.2986080000001 # Vehicle Depth:762.329568 # Seafloor Depth:-843.628176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.65; MB_Bottom_Detect_Filter_Max_Range = 195.12; MB_Bottom_Detect_Filter_Min_Depth = 40.65; MB_Bottom_Detect_Filter_Max_Depth = 195.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 117.785724 meters # Minimum depth: 824.871542 meters looking forward 200.000000 meters along route # Maximum depth: 841.090151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 752.871542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798900; longitude = -118.649427; captureRadius = 10; duration = 117; initialDepth = 752.871542; finalDepth = 762.329568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.44116 # Altitude Set: 81.44116 # Vehicle Depth:752.871542 # Seafloor Depth:-834.312702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.72; MB_Bottom_Detect_Filter_Max_Range = 195.46; MB_Bottom_Detect_Filter_Min_Depth = 40.72; MB_Bottom_Detect_Filter_Max_Depth = 195.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.905494 meters # Minimum depth: 819.179268 meters looking forward 200.000000 meters along route # Maximum depth: 832.103691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 747.179268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799763; longitude = -118.648686; captureRadius = 10; duration = 101; initialDepth = 747.179268; finalDepth = 752.871542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.44116 # Altitude Set: 81.44116 # Vehicle Depth:747.179268 # Seafloor Depth:-824.139544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.72; MB_Bottom_Detect_Filter_Max_Range = 195.46; MB_Bottom_Detect_Filter_Min_Depth = 40.72; MB_Bottom_Detect_Filter_Max_Depth = 195.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.411832 meters # Minimum depth: 819.179268 meters looking forward 200.000000 meters along route # Maximum depth: 824.062246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 747.179268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800509; longitude = -118.648044; captureRadius = 10; duration = 110; initialDepth = 747.179268; finalDepth = 747.179268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.960276 # Altitude Set: 76.960276 # Vehicle Depth:747.179268 # Seafloor Depth:-819.223593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 184.70; MB_Bottom_Detect_Filter_Min_Depth = 38.48; MB_Bottom_Detect_Filter_Max_Depth = 184.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 117.953478 meters # Minimum depth: 820.328024 meters looking forward 200.000000 meters along route # Maximum depth: 829.330925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 748.328024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801318; longitude = -118.647349; captureRadius = 10; duration = 117; initialDepth = 748.328024; finalDepth = 747.179268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.7678639999999 # Altitude Set: 75.7678639999999 # Vehicle Depth:748.328024 # Seafloor Depth:-824.095888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 181.84; MB_Bottom_Detect_Filter_Min_Depth = 37.88; MB_Bottom_Detect_Filter_Max_Depth = 181.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 117.953056 meters # Minimum depth: 826.188462 meters looking forward 200.000000 meters along route # Maximum depth: 834.739347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.188462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802183; longitude = -118.646607; captureRadius = 10; duration = 117; initialDepth = 754.188462; finalDepth = 748.328024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.7678639999999 # Altitude Set: 75.7678639999999 # Vehicle Depth:754.188462 # Seafloor Depth:-829.782802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 181.84; MB_Bottom_Detect_Filter_Min_Depth = 37.88; MB_Bottom_Detect_Filter_Max_Depth = 181.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.247471 meters # Minimum depth: 830.914437 meters looking forward 200.000000 meters along route # Maximum depth: 838.331377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.914437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803047; longitude = -118.645865; captureRadius = 10; duration = 102; initialDepth = 758.914437; finalDepth = 754.188462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.598922 # Altitude Set: 76.598922 # Vehicle Depth:758.914437 # Seafloor Depth:-835.513359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 183.84; MB_Bottom_Detect_Filter_Min_Depth = 38.30; MB_Bottom_Detect_Filter_Max_Depth = 183.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 72.237115 meters # Minimum depth: 834.427848 meters looking forward 200.000000 meters along route # Maximum depth: 838.484009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 762.427848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803796; longitude = -118.645221; captureRadius = 10; duration = 72; initialDepth = 762.427848; finalDepth = 758.914437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.598922 # Altitude Set: 76.598922 # Vehicle Depth:762.427848 # Seafloor Depth:-838.484009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.84; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 183.84; MB_Bottom_Detect_Filter_Min_Depth = 38.30; MB_Bottom_Detect_Filter_Max_Depth = 183.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.990217 meters # Minimum depth: 838.172631 meters looking forward 200.000000 meters along route # Maximum depth: 838.745167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.172631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803416; longitude = -118.644587; captureRadius = 10; duration = 102; initialDepth = 766.172631; finalDepth = 762.427848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.056161 # Altitude Set: 76.056161 # Vehicle Depth:766.172631 # Seafloor Depth:-838.311363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.53; 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 = 182.53; MB_Bottom_Detect_Filter_Min_Depth = 38.03; MB_Bottom_Detect_Filter_Max_Depth = 182.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 113.795827 meters # Minimum depth: 838.281554 meters looking forward 200.000000 meters along route # Maximum depth: 840.309308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.281554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802874; longitude = -118.643684; captureRadius = 10; duration = 113; initialDepth = 766.281554; finalDepth = 766.172631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.492489 # Altitude Set: 72.492489 # Vehicle Depth:766.281554 # Seafloor Depth:-838.774043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.25; MB_Bottom_Detect_Filter_Max_Range = 173.98; MB_Bottom_Detect_Filter_Min_Depth = 36.25; MB_Bottom_Detect_Filter_Max_Depth = 173.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.129195 meters # Minimum depth: 839.063883 meters looking forward 200.000000 meters along route # Maximum depth: 842.626434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 767.063883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802275; longitude = -118.642686; captureRadius = 10; duration = 105; initialDepth = 767.063883; finalDepth = 766.281554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.5262319999999 # Altitude Set: 73.5262319999999 # Vehicle Depth:767.063883 # Seafloor Depth:-840.590115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.46; 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 = 176.46; MB_Bottom_Detect_Filter_Min_Depth = 36.76; MB_Bottom_Detect_Filter_Max_Depth = 176.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 65.068997 meters # Minimum depth: 840.234148 meters looking forward 200.000000 meters along route # Maximum depth: 842.780197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.234148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801722; longitude = -118.641764; captureRadius = 10; duration = 65; initialDepth = 768.234148; finalDepth = 767.063883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.546049 # Altitude Set: 74.546049 # Vehicle Depth:768.234148 # Seafloor Depth:-842.780197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 178.91; MB_Bottom_Detect_Filter_Min_Depth = 37.27; MB_Bottom_Detect_Filter_Max_Depth = 178.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.498209 meters # Minimum depth: 836.913621 meters looking forward 200.000000 meters along route # Maximum depth: 842.780197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 764.913621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801242; longitude = -118.642167; captureRadius = 10; duration = 111; initialDepth = 764.913621; finalDepth = 768.234148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.9549109999999 # Altitude Set: 76.9549109999999 # Vehicle Depth:764.913621 # Seafloor Depth:-841.868532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 184.69; MB_Bottom_Detect_Filter_Min_Depth = 38.48; MB_Bottom_Detect_Filter_Max_Depth = 184.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.259457 meters # Minimum depth: 830.071224 meters looking forward 200.000000 meters along route # Maximum depth: 840.920494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 758.071224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800419; longitude = -118.642859; captureRadius = 10; duration = 112; initialDepth = 758.071224; finalDepth = 764.913621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.520144 # Altitude Set: 78.520144 # Vehicle Depth:758.071224 # Seafloor Depth:-836.591368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.45; 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 = 188.45; MB_Bottom_Detect_Filter_Min_Depth = 39.26; MB_Bottom_Detect_Filter_Max_Depth = 188.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 117.071577 meters # Minimum depth: 826.552155 meters looking forward 200.000000 meters along route # Maximum depth: 833.956881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.552155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799590; longitude = -118.643555; captureRadius = 10; duration = 117; initialDepth = 754.552155; finalDepth = 758.071224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.520144 # Altitude Set: 78.520144 # Vehicle Depth:754.552155 # Seafloor Depth:-830.033965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.45; 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 = 188.45; MB_Bottom_Detect_Filter_Min_Depth = 39.26; MB_Bottom_Detect_Filter_Max_Depth = 188.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.165808 meters # Minimum depth: 826.123310 meters looking forward 200.000000 meters along route # Maximum depth: 829.104135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.123310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798726; longitude = -118.644281; captureRadius = 10; duration = 105; initialDepth = 754.123310; finalDepth = 754.552155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.48181 # Altitude Set: 75.48181 # Vehicle Depth:754.12331 # Seafloor Depth:-826.465709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.16; 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 = 181.16; MB_Bottom_Detect_Filter_Min_Depth = 37.74; MB_Bottom_Detect_Filter_Max_Depth = 181.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.499687 meters # Minimum depth: 826.123310 meters looking forward 200.000000 meters along route # Maximum depth: 834.894282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 754.123310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797949; longitude = -118.644933; captureRadius = 10; duration = 111; initialDepth = 754.123310; finalDepth = 754.123310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4516890000001 # Altitude Set: 73.4516890000001 # Vehicle Depth:754.12331 # Seafloor Depth:-827.574999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.28; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.73; MB_Bottom_Detect_Filter_Max_Range = 176.28; MB_Bottom_Detect_Filter_Min_Depth = 36.73; MB_Bottom_Detect_Filter_Max_Depth = 176.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.500055 meters # Minimum depth: 828.761807 meters looking forward 200.000000 meters along route # Maximum depth: 842.462197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 756.761807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797126; longitude = -118.645625; captureRadius = 10; duration = 111; initialDepth = 756.761807; finalDepth = 754.123310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.5550870000001 # Altitude Set: 78.5550870000001 # Vehicle Depth:756.761807 # Seafloor Depth:-835.316894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.28; MB_Bottom_Detect_Filter_Max_Range = 188.53; MB_Bottom_Detect_Filter_Min_Depth = 39.28; MB_Bottom_Detect_Filter_Max_Depth = 188.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 116.710156 meters # Minimum depth: 837.940900 meters looking forward 200.000000 meters along route # Maximum depth: 847.363192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.940900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796303; longitude = -118.646316; captureRadius = 10; duration = 116; initialDepth = 765.940900; finalDepth = 756.761807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.5550870000001 # Altitude Set: 78.5550870000001 # Vehicle Depth:765.9409 # Seafloor Depth:-842.488826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.28; MB_Bottom_Detect_Filter_Max_Range = 188.53; MB_Bottom_Detect_Filter_Min_Depth = 39.28; MB_Bottom_Detect_Filter_Max_Depth = 188.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 117.073531 meters # Minimum depth: 845.096964 meters looking forward 200.000000 meters along route # Maximum depth: 851.386021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.096964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795441; longitude = -118.647040; captureRadius = 10; duration = 117; initialDepth = 773.096964; finalDepth = 765.940900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.547926 # Altitude Set: 76.547926 # Vehicle Depth:773.096964 # Seafloor Depth:-847.563025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 183.72; MB_Bottom_Detect_Filter_Min_Depth = 38.27; MB_Bottom_Detect_Filter_Max_Depth = 183.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.718695 meters # Minimum depth: 848.272954 meters looking forward 200.000000 meters along route # Maximum depth: 855.712026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 776.272954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.647766; captureRadius = 10; duration = 100; initialDepth = 776.272954; finalDepth = 773.096964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.430351 # Altitude Set: 75.430351 # Vehicle Depth:776.272954 # Seafloor Depth:-851.703305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 181.03; MB_Bottom_Detect_Filter_Min_Depth = 37.72; MB_Bottom_Detect_Filter_Max_Depth = 181.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.209724 meters # Minimum depth: 852.420767 meters looking forward 200.000000 meters along route # Maximum depth: 860.315355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.420767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793834; longitude = -118.648390; captureRadius = 10; duration = 102; initialDepth = 780.420767; finalDepth = 776.272954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.642964 # Altitude Set: 75.642964 # Vehicle Depth:780.420767 # Seafloor Depth:-856.063731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 181.54; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 181.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 108.339083 meters # Minimum depth: 856.966851 meters looking forward 200.000000 meters along route # Maximum depth: 861.319987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.966851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793079; longitude = -118.649024; captureRadius = 10; duration = 108; initialDepth = 784.966851; finalDepth = 780.420767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.695258 # Altitude Set: 75.695258 # Vehicle Depth:784.966851 # Seafloor Depth:-860.662109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 181.67; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 181.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.966590 meters # Minimum depth: 860.884847 meters looking forward 200.000000 meters along route # Maximum depth: 862.826303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.884847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792545; longitude = -118.648044; captureRadius = 10; duration = 101; initialDepth = 788.884847; finalDepth = 784.966851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.695258 # Altitude Set: 75.695258 # Vehicle Depth:788.884847 # Seafloor Depth:-861.428890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 181.67; MB_Bottom_Detect_Filter_Min_Depth = 37.85; MB_Bottom_Detect_Filter_Max_Depth = 181.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 74.268876 meters # Minimum depth: 861.257357 meters looking forward 200.000000 meters along route # Maximum depth: 862.920492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.257357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792042; longitude = -118.647123; captureRadius = 10; duration = 74; initialDepth = 789.257357; finalDepth = 788.884847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.663135 # Altitude Set: 73.663135 # Vehicle Depth:789.257357 # Seafloor Depth:-862.920492 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.79; 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 = 176.79; MB_Bottom_Detect_Filter_Min_Depth = 36.83; MB_Bottom_Detect_Filter_Max_Depth = 176.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.403005 meters # Minimum depth: 858.150605 meters looking forward 200.000000 meters along route # Maximum depth: 862.920492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.150605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792590; longitude = -118.646662; captureRadius = 10; duration = 111; initialDepth = 786.150605; finalDepth = 789.257357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.823623 # Altitude Set: 74.823623 # Vehicle Depth:786.150605 # Seafloor Depth:-860.974228 # behavior reson { duration = RESON_DURATION; 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 11 # Segment length 111.402637 meters # Minimum depth: 852.522356 meters looking forward 200.000000 meters along route # Maximum depth: 860.215184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 780.522356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793412; longitude = -118.645970; captureRadius = 10; duration = 111; initialDepth = 780.522356; finalDepth = 786.150605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 77.38984 # Altitude Set: 77.38984 # Vehicle Depth:780.522356 # Seafloor Depth:-857.912196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 185.74; MB_Bottom_Detect_Filter_Min_Depth = 38.69; MB_Bottom_Detect_Filter_Max_Depth = 185.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.767578 meters # Minimum depth: 845.643365 meters looking forward 200.000000 meters along route # Maximum depth: 856.111465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.643365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794234; longitude = -118.645279; captureRadius = 10; duration = 116; initialDepth = 773.643365; finalDepth = 780.522356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.857214 # Altitude Set: 78.857214 # Vehicle Depth:773.643365 # Seafloor Depth:-852.500579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 189.26; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 189.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.124197 meters # Minimum depth: 838.409107 meters looking forward 200.000000 meters along route # Maximum depth: 849.966107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 766.409107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.644554; captureRadius = 10; duration = 117; initialDepth = 766.409107; finalDepth = 773.643365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.857214 # Altitude Set: 78.857214 # Vehicle Depth:766.409107 # Seafloor Depth:-845.157526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 189.26; MB_Bottom_Detect_Filter_Min_Depth = 39.43; MB_Bottom_Detect_Filter_Max_Depth = 189.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.313919 meters # Minimum depth: 833.860922 meters looking forward 200.000000 meters along route # Maximum depth: 843.145940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.860922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795960; longitude = -118.643827; captureRadius = 10; duration = 100; initialDepth = 761.860922; finalDepth = 766.409107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.748419 # Altitude Set: 78.748419 # Vehicle Depth:761.860922 # Seafloor Depth:-837.979043 # behavior reson { duration = RESON_DURATION; 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 = 39.37; MB_Bottom_Detect_Filter_Max_Range = 189.00; MB_Bottom_Detect_Filter_Min_Depth = 39.37; 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 11 # Segment length 111.401160 meters # Minimum depth: 832.114498 meters looking forward 200.000000 meters along route # Maximum depth: 837.275826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.114498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796700; longitude = -118.643205; captureRadius = 10; duration = 111; initialDepth = 760.114498; finalDepth = 761.860922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.1181210000001 # Altitude Set: 76.1181210000001 # Vehicle Depth:760.114498 # Seafloor Depth:-833.667805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.68; 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 = 182.68; MB_Bottom_Detect_Filter_Min_Depth = 38.06; MB_Bottom_Detect_Filter_Max_Depth = 182.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.230501 meters # Minimum depth: 832.114498 meters looking forward 200.000000 meters along route # Maximum depth: 836.367179 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 760.114498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797522; longitude = -118.642513; captureRadius = 10; duration = 116; initialDepth = 760.114498; finalDepth = 760.114498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.553307 # Altitude Set: 73.553307 # Vehicle Depth:760.114498 # Seafloor Depth:-832.384231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.53; 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 = 176.53; MB_Bottom_Detect_Filter_Min_Depth = 36.78; MB_Bottom_Detect_Filter_Max_Depth = 176.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.122646 meters # Minimum depth: 833.591074 meters looking forward 200.000000 meters along route # Maximum depth: 842.055150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 761.591074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798380; longitude = -118.641792; captureRadius = 10; duration = 117; initialDepth = 761.591074; finalDepth = 760.114498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.968577 # Altitude Set: 74.968577 # Vehicle Depth:761.591074 # Seafloor Depth:-836.559651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.92; 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 = 179.92; MB_Bottom_Detect_Filter_Min_Depth = 37.48; MB_Bottom_Detect_Filter_Max_Depth = 179.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.848119 meters # Minimum depth: 837.639129 meters looking forward 200.000000 meters along route # Maximum depth: 846.223410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 765.639129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799244; longitude = -118.641065; captureRadius = 10; duration = 100; initialDepth = 765.639129; finalDepth = 761.591074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8979899999999 # Altitude Set: 76.8979899999999 # Vehicle Depth:765.639129 # Seafloor Depth:-842.537119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.56; 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 = 184.56; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.146814 meters # Minimum depth: 843.216033 meters looking forward 200.000000 meters along route # Maximum depth: 847.466415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.216033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799988; longitude = -118.640439; captureRadius = 10; duration = 102; initialDepth = 771.216033; finalDepth = 765.639129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.8979899999999 # Altitude Set: 76.8979899999999 # Vehicle Depth:771.216033 # Seafloor Depth:-846.378696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.56; 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 = 184.56; MB_Bottom_Detect_Filter_Min_Depth = 38.45; MB_Bottom_Detect_Filter_Max_Depth = 184.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 87.571773 meters # Minimum depth: 846.223410 meters looking forward 200.000000 meters along route # Maximum depth: 849.374106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.223410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800742; longitude = -118.639805; captureRadius = 10; duration = 87; initialDepth = 774.223410; finalDepth = 771.216033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.162663 # Altitude Set: 75.162663 # Vehicle Depth:774.22341 # Seafloor Depth:-847.481033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.39; 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 = 180.39; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.494371 meters # Minimum depth: 847.481033 meters looking forward 200.000000 meters along route # Maximum depth: 852.073593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 775.481033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800281; longitude = -118.639037; captureRadius = 10; duration = 109; initialDepth = 775.481033; finalDepth = 774.223410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9466269999999 # Altitude Set: 73.9466269999999 # Vehicle Depth:775.481033 # Seafloor Depth:-849.427660 # behavior reson { duration = RESON_DURATION; 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 to get to end of line 9 # Segment length 110.172108 meters # Minimum depth: 850.248866 meters looking forward 200.000000 meters along route # Maximum depth: 852.463698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.248866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799705; longitude = -118.638077; captureRadius = 10; duration = 110; initialDepth = 778.248866; finalDepth = 775.481033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1732529999999 # Altitude Set: 74.1732529999999 # Vehicle Depth:778.248866 # Seafloor Depth:-852.422119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.02; 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 = 178.02; MB_Bottom_Detect_Filter_Min_Depth = 37.09; MB_Bottom_Detect_Filter_Max_Depth = 178.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.063230 meters # Minimum depth: 849.899741 meters looking forward 200.000000 meters along route # Maximum depth: 852.463698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.899741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798898; longitude = -118.638771; captureRadius = 10; duration = 100; initialDepth = 777.899741; finalDepth = 778.248866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.1732529999999 # Altitude Set: 74.1732529999999 # Vehicle Depth:777.899741 # Seafloor Depth:-852.005358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.02; 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 = 178.02; MB_Bottom_Detect_Filter_Min_Depth = 37.09; MB_Bottom_Detect_Filter_Max_Depth = 178.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.412594 meters # Minimum depth: 846.534346 meters looking forward 200.000000 meters along route # Maximum depth: 851.900894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.534346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798166; longitude = -118.639402; captureRadius = 10; duration = 112; initialDepth = 774.534346; finalDepth = 777.899741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.205387 # Altitude Set: 75.205387 # Vehicle Depth:774.534346 # Seafloor Depth:-849.739733 # behavior reson { duration = RESON_DURATION; 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 9 # Segment length 106.964845 meters # Minimum depth: 843.527527 meters looking forward 200.000000 meters along route # Maximum depth: 848.989514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.527527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797343; longitude = -118.640110; captureRadius = 10; duration = 106; initialDepth = 771.527527; finalDepth = 774.534346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.205387 # Altitude Set: 75.205387 # Vehicle Depth:771.527527 # Seafloor Depth:-846.421837 # behavior reson { duration = RESON_DURATION; 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 9 # Segment length 109.689270 meters # Minimum depth: 840.202236 meters looking forward 200.000000 meters along route # Maximum depth: 845.403849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.202236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796560; longitude = -118.640785; captureRadius = 10; duration = 109; initialDepth = 768.202236; finalDepth = 771.527527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.89431 # Altitude Set: 74.89431 # Vehicle Depth:768.202236 # Seafloor Depth:-843.074253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 179.75; MB_Bottom_Detect_Filter_Min_Depth = 37.45; MB_Bottom_Detect_Filter_Max_Depth = 179.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.866566 meters # Minimum depth: 840.202236 meters looking forward 200.000000 meters along route # Maximum depth: 842.897590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.202236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795756; longitude = -118.641476; captureRadius = 10; duration = 113; initialDepth = 768.202236; finalDepth = 768.202236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.872017 # Altitude Set: 74.872017 # Vehicle Depth:768.202236 # Seafloor Depth:-840.468520 # behavior reson { duration = RESON_DURATION; 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 9 # Segment length 105.513072 meters # Minimum depth: 840.738201 meters looking forward 200.000000 meters along route # Maximum depth: 847.770897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 768.738201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794923; longitude = -118.642194; captureRadius = 10; duration = 105; initialDepth = 768.738201; finalDepth = 768.202236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.315514 # Altitude Set: 74.315514 # Vehicle Depth:768.738201 # Seafloor Depth:-843.053715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 178.36; MB_Bottom_Detect_Filter_Min_Depth = 37.16; MB_Bottom_Detect_Filter_Max_Depth = 178.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.690369 meters # Minimum depth: 843.910568 meters looking forward 200.000000 meters along route # Maximum depth: 855.461170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.910568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794150; longitude = -118.642859; captureRadius = 10; duration = 109; initialDepth = 771.910568; finalDepth = 768.738201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.676105 # Altitude Set: 76.676105 # Vehicle Depth:771.910568 # Seafloor Depth:-848.586673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 184.02; MB_Bottom_Detect_Filter_Min_Depth = 38.34; MB_Bottom_Detect_Filter_Max_Depth = 184.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.320567 meters # Minimum depth: 850.635541 meters looking forward 200.000000 meters along route # Maximum depth: 860.133349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 778.635541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793347; longitude = -118.643550; captureRadius = 10; duration = 115; initialDepth = 778.635541; finalDepth = 771.910568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.9734980000001 # Altitude Set: 76.9734980000001 # Vehicle Depth:778.635541 # Seafloor Depth:-855.609039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 184.74; MB_Bottom_Detect_Filter_Min_Depth = 38.49; MB_Bottom_Detect_Filter_Max_Depth = 184.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.061269 meters # Minimum depth: 856.631891 meters looking forward 200.000000 meters along route # Maximum depth: 863.016679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.631891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792503; longitude = -118.644277; captureRadius = 10; duration = 104; initialDepth = 784.631891; finalDepth = 778.635541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 76.9734980000001 # Altitude Set: 76.9734980000001 # Vehicle Depth:784.631891 # Seafloor Depth:-860.368013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 184.74; MB_Bottom_Detect_Filter_Min_Depth = 38.49; MB_Bottom_Detect_Filter_Max_Depth = 184.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.550499 meters # Minimum depth: 861.086524 meters looking forward 200.000000 meters along route # Maximum depth: 864.782609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.086524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791741; longitude = -118.644933; captureRadius = 10; duration = 100; initialDepth = 789.086524; finalDepth = 784.631891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.736122 # Altitude Set: 75.736122 # Vehicle Depth:789.086524 # Seafloor Depth:-863.269223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.87; MB_Bottom_Detect_Filter_Max_Range = 181.77; MB_Bottom_Detect_Filter_Min_Depth = 37.87; MB_Bottom_Detect_Filter_Max_Depth = 181.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 108.338733 meters # Minimum depth: 863.615615 meters looking forward 200.000000 meters along route # Maximum depth: 865.283208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.615615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791005; longitude = -118.645567; captureRadius = 10; duration = 108; initialDepth = 791.615615; finalDepth = 789.086524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.182699 # Altitude Set: 74.182699 # Vehicle Depth:791.615615 # Seafloor Depth:-865.047607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.04; 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 = 178.04; MB_Bottom_Detect_Filter_Min_Depth = 37.09; MB_Bottom_Detect_Filter_Max_Depth = 178.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.916256 meters # Minimum depth: 865.084857 meters looking forward 200.000000 meters along route # Maximum depth: 866.172669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.084857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790471; longitude = -118.644587; captureRadius = 10; duration = 101; initialDepth = 793.084857; finalDepth = 791.615615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4319919999999 # Altitude Set: 73.4319919999999 # Vehicle Depth:793.084857 # Seafloor Depth:-865.230915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.24; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 176.24; MB_Bottom_Detect_Filter_Min_Depth = 36.72; MB_Bottom_Detect_Filter_Max_Depth = 176.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 74.339335 meters # Minimum depth: 864.740331 meters looking forward 200.000000 meters along route # Maximum depth: 866.172669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.740331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789968; longitude = -118.643666; captureRadius = 10; duration = 74; initialDepth = 792.740331; finalDepth = 793.084857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.329234 # Altitude Set: 73.329234 # Vehicle Depth:792.740331 # Seafloor Depth:-866.069565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.99; 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 = 175.99; MB_Bottom_Detect_Filter_Min_Depth = 36.66; MB_Bottom_Detect_Filter_Max_Depth = 175.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.399432 meters # Minimum depth: 863.318147 meters looking forward 200.000000 meters along route # Maximum depth: 866.172669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.318147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790517; longitude = -118.643205; captureRadius = 10; duration = 111; initialDepth = 791.318147; finalDepth = 792.740331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.329234 # Altitude Set: 73.329234 # Vehicle Depth:791.318147 # Seafloor Depth:-864.580101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.99; 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 = 175.99; MB_Bottom_Detect_Filter_Min_Depth = 36.66; MB_Bottom_Detect_Filter_Max_Depth = 175.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.399064 meters # Minimum depth: 859.739883 meters looking forward 200.000000 meters along route # Maximum depth: 864.204382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.739883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791339; longitude = -118.642513; captureRadius = 10; duration = 111; initialDepth = 787.739883; finalDepth = 791.318147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.4767430000001 # Altitude Set: 75.4767430000001 # Vehicle Depth:787.739883 # Seafloor Depth:-863.216626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.14; 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 = 181.14; MB_Bottom_Detect_Filter_Min_Depth = 37.74; MB_Bottom_Detect_Filter_Max_Depth = 181.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 116.672589 meters # Minimum depth: 856.631086 meters looking forward 200.000000 meters along route # Maximum depth: 861.970441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.631086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792161; longitude = -118.641822; captureRadius = 10; duration = 116; initialDepth = 784.631086; finalDepth = 787.739883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.4767430000001 # Altitude Set: 75.4767430000001 # Vehicle Depth:784.631086 # Seafloor Depth:-859.724312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.14; 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 = 181.14; MB_Bottom_Detect_Filter_Min_Depth = 37.74; MB_Bottom_Detect_Filter_Max_Depth = 181.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 117.127196 meters # Minimum depth: 856.265858 meters looking forward 200.000000 meters along route # Maximum depth: 858.238155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.265858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793021; longitude = -118.641098; captureRadius = 10; duration = 117; initialDepth = 784.265858; finalDepth = 784.631086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.0932260000001 # Altitude Set: 75.0932260000001 # Vehicle Depth:784.265858 # Seafloor Depth:-856.563627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.22; 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 = 180.22; MB_Bottom_Detect_Filter_Min_Depth = 37.55; MB_Bottom_Detect_Filter_Max_Depth = 180.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.395190 meters # Minimum depth: 856.265858 meters looking forward 200.000000 meters along route # Maximum depth: 857.173892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.265858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793886; longitude = -118.640371; captureRadius = 10; duration = 100; initialDepth = 784.265858; finalDepth = 784.265858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.908034 # Altitude Set: 72.908034 # Vehicle Depth:784.265858 # Seafloor Depth:-857.173892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 174.98; MB_Bottom_Detect_Filter_Min_Depth = 36.45; MB_Bottom_Detect_Filter_Max_Depth = 174.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.397587 meters # Minimum depth: 855.322509 meters looking forward 200.000000 meters along route # Maximum depth: 857.070816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.322509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794626; longitude = -118.639748; captureRadius = 10; duration = 111; initialDepth = 783.322509; finalDepth = 784.265858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.317314 # Altitude Set: 73.317314 # Vehicle Depth:783.322509 # Seafloor Depth:-856.639823 # behavior reson { duration = RESON_DURATION; 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 7 # Segment length 116.161200 meters # Minimum depth: 855.174754 meters looking forward 200.000000 meters along route # Maximum depth: 856.323712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.174754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795448; longitude = -118.639056; captureRadius = 10; duration = 116; initialDepth = 783.174754; finalDepth = 783.322509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.317314 # Altitude Set: 73.317314 # Vehicle Depth:783.174754 # Seafloor Depth:-855.324373 # behavior reson { duration = RESON_DURATION; 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 7 # Segment length 117.125645 meters # Minimum depth: 855.174754 meters looking forward 200.000000 meters along route # Maximum depth: 857.534478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.174754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796306; longitude = -118.638335; captureRadius = 10; duration = 117; initialDepth = 783.174754; finalDepth = 783.174754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.908155 # Altitude Set: 72.908155 # Vehicle Depth:783.174754 # Seafloor Depth:-856.082909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 174.98; MB_Bottom_Detect_Filter_Min_Depth = 36.45; MB_Bottom_Detect_Filter_Max_Depth = 174.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.903703 meters # Minimum depth: 856.210323 meters looking forward 200.000000 meters along route # Maximum depth: 857.770995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.210323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797170; longitude = -118.637608; captureRadius = 10; duration = 100; initialDepth = 784.210323; finalDepth = 783.174754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4787259999999 # Altitude Set: 73.4787259999999 # Vehicle Depth:784.210323 # Seafloor Depth:-857.689049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.35; 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 = 176.35; MB_Bottom_Detect_Filter_Min_Depth = 36.74; MB_Bottom_Detect_Filter_Max_Depth = 176.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.113116 meters # Minimum depth: 856.777303 meters looking forward 200.000000 meters along route # Maximum depth: 857.770995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.777303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797914; longitude = -118.636982; captureRadius = 10; duration = 102; initialDepth = 784.777303; finalDepth = 784.210323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.4787259999999 # Altitude Set: 73.4787259999999 # Vehicle Depth:784.777303 # Seafloor Depth:-857.440522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.35; 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 = 176.35; MB_Bottom_Detect_Filter_Min_Depth = 36.74; MB_Bottom_Detect_Filter_Max_Depth = 176.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 87.595907 meters # Minimum depth: 856.394507 meters looking forward 200.000000 meters along route # Maximum depth: 857.458471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.394507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798668; longitude = -118.636348; captureRadius = 10; duration = 87; initialDepth = 784.394507; finalDepth = 784.777303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.663219 # Altitude Set: 72.663219 # Vehicle Depth:784.394507 # Seafloor Depth:-856.693197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 174.39; MB_Bottom_Detect_Filter_Min_Depth = 36.33; MB_Bottom_Detect_Filter_Max_Depth = 174.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.495284 meters # Minimum depth: 856.394507 meters looking forward 200.000000 meters along route # Maximum depth: 859.133877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.394507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798207; longitude = -118.635580; captureRadius = 10; duration = 109; initialDepth = 784.394507; finalDepth = 784.394507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.2986900000001 # Altitude Set: 72.2986900000001 # Vehicle Depth:784.394507 # Seafloor Depth:-856.433607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 173.52; MB_Bottom_Detect_Filter_Min_Depth = 36.15; MB_Bottom_Detect_Filter_Max_Depth = 173.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 74.269153 meters # Minimum depth: 856.394507 meters looking forward 200.000000 meters along route # Maximum depth: 860.835157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.394507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797631; longitude = -118.634620; captureRadius = 10; duration = 74; initialDepth = 784.394507; finalDepth = 784.394507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.875675 # Altitude Set: 74.875675 # Vehicle Depth:784.394507 # Seafloor Depth:-859.270182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 179.70; MB_Bottom_Detect_Filter_Min_Depth = 37.44; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.404038 meters # Minimum depth: 859.125216 meters looking forward 200.000000 meters along route # Maximum depth: 863.469843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.125216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797083; longitude = -118.635081; captureRadius = 10; duration = 111; initialDepth = 787.125216; finalDepth = 784.394507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.875675 # Altitude Set: 74.875675 # Vehicle Depth:787.125216 # Seafloor Depth:-861.022302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 179.70; MB_Bottom_Detect_Filter_Min_Depth = 37.44; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.404406 meters # Minimum depth: 861.186905 meters looking forward 200.000000 meters along route # Maximum depth: 864.957927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.186905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796261; longitude = -118.635772; captureRadius = 10; duration = 111; initialDepth = 789.186905; finalDepth = 787.125216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.403522 # Altitude Set: 74.403522 # Vehicle Depth:789.186905 # Seafloor Depth:-863.590427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 178.57; MB_Bottom_Detect_Filter_Min_Depth = 37.20; MB_Bottom_Detect_Filter_Max_Depth = 178.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 116.753690 meters # Minimum depth: 864.041518 meters looking forward 200.000000 meters along route # Maximum depth: 866.500982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.041518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795439; longitude = -118.636463; captureRadius = 10; duration = 116; initialDepth = 792.041518; finalDepth = 789.186905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.403522 # Altitude Set: 74.403522 # Vehicle Depth:792.041518 # Seafloor Depth:-864.962610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 178.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 178.57; MB_Bottom_Detect_Filter_Min_Depth = 37.20; MB_Bottom_Detect_Filter_Max_Depth = 178.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.122987 meters # Minimum depth: 865.455117 meters looking forward 200.000000 meters along route # Maximum depth: 867.715403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.455117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794577; longitude = -118.637188; captureRadius = 10; duration = 117; initialDepth = 793.455117; finalDepth = 792.041518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1578850000001 # Altitude Set: 73.1578850000001 # Vehicle Depth:793.455117 # Seafloor Depth:-866.613002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.58; 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 = 175.58; MB_Bottom_Detect_Filter_Min_Depth = 36.58; MB_Bottom_Detect_Filter_Max_Depth = 175.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.338757 meters # Minimum depth: 866.941663 meters looking forward 200.000000 meters along route # Maximum depth: 867.715403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.941663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793713; longitude = -118.637915; captureRadius = 10; duration = 100; initialDepth = 794.941663; finalDepth = 793.455117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1578850000001 # Altitude Set: 73.1578850000001 # Vehicle Depth:794.941663 # Seafloor Depth:-867.662046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.58; 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 = 175.58; MB_Bottom_Detect_Filter_Min_Depth = 36.58; MB_Bottom_Detect_Filter_Max_Depth = 175.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.405882 meters # Minimum depth: 866.554826 meters looking forward 200.000000 meters along route # Maximum depth: 867.494572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.554826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792972; longitude = -118.638538; captureRadius = 10; duration = 111; initialDepth = 794.554826; finalDepth = 794.941663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.7203830000001 # Altitude Set: 72.7203830000001 # Vehicle Depth:794.554826 # Seafloor Depth:-867.155912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.53; 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 = 174.53; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 116.201893 meters # Minimum depth: 863.086646 meters looking forward 200.000000 meters along route # Maximum depth: 866.777793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.086646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792150; longitude = -118.639229; captureRadius = 10; duration = 116; initialDepth = 791.086646; finalDepth = 794.554826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.586266 # Altitude Set: 75.586266 # Vehicle Depth:791.086646 # Seafloor Depth:-866.672912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.41; 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 = 181.41; MB_Bottom_Detect_Filter_Min_Depth = 37.79; MB_Bottom_Detect_Filter_Max_Depth = 181.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.124537 meters # Minimum depth: 862.773197 meters looking forward 200.000000 meters along route # Maximum depth: 865.408980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.773197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791293; longitude = -118.639950; captureRadius = 10; duration = 117; initialDepth = 790.773197; finalDepth = 791.086646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.586266 # Altitude Set: 75.586266 # Vehicle Depth:790.773197 # Seafloor Depth:-862.998617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.41; 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 = 181.41; MB_Bottom_Detect_Filter_Min_Depth = 37.79; MB_Bottom_Detect_Filter_Max_Depth = 181.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.893432 meters # Minimum depth: 862.773197 meters looking forward 200.000000 meters along route # Maximum depth: 865.295024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.773197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790429; longitude = -118.640677; captureRadius = 10; duration = 100; initialDepth = 790.773197; finalDepth = 790.773197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.1282620000001 # Altitude Set: 73.1282620000001 # Vehicle Depth:790.773197 # Seafloor Depth:-863.901459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.51; 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 = 175.51; MB_Bottom_Detect_Filter_Min_Depth = 36.56; MB_Bottom_Detect_Filter_Max_Depth = 175.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.123398 meters # Minimum depth: 864.052679 meters looking forward 200.000000 meters along route # Maximum depth: 866.626876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.052679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789684; longitude = -118.641303; captureRadius = 10; duration = 102; initialDepth = 792.052679; finalDepth = 790.773197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.377101 # Altitude Set: 73.377101 # Vehicle Depth:792.052679 # Seafloor Depth:-865.429780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.11; 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 = 176.11; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 110.958995 meters # Minimum depth: 865.751061 meters looking forward 200.000000 meters along route # Maximum depth: 867.277883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.751061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788931; longitude = -118.641937; captureRadius = 10; duration = 110; initialDepth = 793.751061; finalDepth = 792.052679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.377101 # Altitude Set: 73.377101 # Vehicle Depth:793.751061 # Seafloor Depth:-866.663493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.11; 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 = 176.11; MB_Bottom_Detect_Filter_Min_Depth = 36.69; MB_Bottom_Detect_Filter_Max_Depth = 176.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.964064 meters # Minimum depth: 867.037659 meters looking forward 200.000000 meters along route # Maximum depth: 867.960283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.037659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788354; longitude = -118.640958; captureRadius = 10; duration = 110; initialDepth = 795.037659; finalDepth = 793.751061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.912432 # Altitude Set: 72.912432 # Vehicle Depth:795.037659 # Seafloor Depth:-867.277886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 174.99; MB_Bottom_Detect_Filter_Min_Depth = 36.46; MB_Bottom_Detect_Filter_Max_Depth = 174.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 67.758280 meters # Minimum depth: 867.177315 meters looking forward 200.000000 meters along route # Maximum depth: 868.051712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.177315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787778; longitude = -118.639978; captureRadius = 10; duration = 67; initialDepth = 795.177315; finalDepth = 795.037659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.8743969999999 # Altitude Set: 72.8743969999999 # Vehicle Depth:795.177315 # Seafloor Depth:-868.051712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.90; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 174.90; MB_Bottom_Detect_Filter_Min_Depth = 36.44; MB_Bottom_Detect_Filter_Max_Depth = 174.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.753460 meters # Minimum depth: 866.214473 meters looking forward 200.000000 meters along route # Maximum depth: 868.051712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.214473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788288; longitude = -118.639575; captureRadius = 10; duration = 100; initialDepth = 794.214473; finalDepth = 795.177315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.069392 # Altitude Set: 73.069392 # Vehicle Depth:794.214473 # Seafloor Depth:-867.283865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.53; MB_Bottom_Detect_Filter_Max_Range = 175.37; MB_Bottom_Detect_Filter_Min_Depth = 36.53; MB_Bottom_Detect_Filter_Max_Depth = 175.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.873008 meters # Minimum depth: 866.156359 meters looking forward 200.000000 meters along route # Maximum depth: 866.934998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.156359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789046; longitude = -118.638975; captureRadius = 10; duration = 114; initialDepth = 794.156359; finalDepth = 794.214473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.069392 # Altitude Set: 73.069392 # Vehicle Depth:794.156359 # Seafloor Depth:-866.228033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.37; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.53; MB_Bottom_Detect_Filter_Max_Range = 175.37; MB_Bottom_Detect_Filter_Min_Depth = 36.53; MB_Bottom_Detect_Filter_Max_Depth = 175.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.872641 meters # Minimum depth: 866.156359 meters looking forward 200.000000 meters along route # Maximum depth: 867.403505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.156359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789910; longitude = -118.638291; captureRadius = 10; duration = 114; initialDepth = 794.156359; finalDepth = 794.156359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.670337 # Altitude Set: 72.670337 # Vehicle Depth:794.156359 # Seafloor Depth:-866.826696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 174.41; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.872273 meters # Minimum depth: 867.343172 meters looking forward 200.000000 meters along route # Maximum depth: 868.031190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.343172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790774; longitude = -118.637608; captureRadius = 10; duration = 114; initialDepth = 795.343172; finalDepth = 794.156359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.670337 # Altitude Set: 72.670337 # Vehicle Depth:795.343172 # Seafloor Depth:-867.428719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 174.41; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.871907 meters # Minimum depth: 867.824987 meters looking forward 200.000000 meters along route # Maximum depth: 868.168782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.824987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791639; longitude = -118.636924; captureRadius = 10; duration = 114; initialDepth = 795.824987; finalDepth = 795.343172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.2170480000001 # Altitude Set: 72.2170480000001 # Vehicle Depth:795.824987 # Seafloor Depth:-868.042035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.32; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 173.32; MB_Bottom_Detect_Filter_Min_Depth = 36.11; MB_Bottom_Detect_Filter_Max_Depth = 173.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.871539 meters # Minimum depth: 868.100894 meters looking forward 200.000000 meters along route # Maximum depth: 868.506747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.100894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792503; longitude = -118.636240; captureRadius = 10; duration = 114; initialDepth = 796.100894; finalDepth = 795.824987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.2170480000001 # Altitude Set: 72.2170480000001 # Vehicle Depth:796.100894 # Seafloor Depth:-868.155926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.32; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 173.32; MB_Bottom_Detect_Filter_Min_Depth = 36.11; MB_Bottom_Detect_Filter_Max_Depth = 173.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.871172 meters # Minimum depth: 867.869119 meters looking forward 200.000000 meters along route # Maximum depth: 868.506747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.869119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793367; longitude = -118.635557; captureRadius = 10; duration = 114; initialDepth = 795.869119; finalDepth = 796.100894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.4609740000001 # Altitude Set: 72.4609740000001 # Vehicle Depth:795.869119 # Seafloor Depth:-868.330093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 173.91; MB_Bottom_Detect_Filter_Min_Depth = 36.23; MB_Bottom_Detect_Filter_Max_Depth = 173.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.870804 meters # Minimum depth: 867.713050 meters looking forward 200.000000 meters along route # Maximum depth: 868.375177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.713050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794231; longitude = -118.634873; captureRadius = 10; duration = 114; initialDepth = 795.713050; finalDepth = 795.869119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 72.6621270000001 # Altitude Set: 72.6621270000001 # Vehicle Depth:795.71305 # Seafloor Depth:-868.375177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.39; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 174.39; MB_Bottom_Detect_Filter_Min_Depth = 36.33; MB_Bottom_Detect_Filter_Max_Depth = 174.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.870438 meters # Minimum depth: 863.667261 meters looking forward 200.000000 meters along route # Maximum depth: 868.040822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.667261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795096; longitude = -118.634189; captureRadius = 10; duration = 114; initialDepth = 791.667261; finalDepth = 795.713050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9272569999999 # Altitude Set: 75.9272569999999 # Vehicle Depth:791.667261 # Seafloor Depth:-867.594518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.23; 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 = 182.23; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 182.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.559420 meters # Minimum depth: 861.590262 meters looking forward 200.000000 meters along route # Maximum depth: 865.929763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.590262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795960; longitude = -118.633505; captureRadius = 10; duration = 122; initialDepth = 789.590262; finalDepth = 791.667261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9272569999999 # Altitude Set: 75.9272569999999 # Vehicle Depth:789.590262 # Seafloor Depth:-863.576155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.23; 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 = 182.23; MB_Bottom_Detect_Filter_Min_Depth = 37.96; MB_Bottom_Detect_Filter_Max_Depth = 182.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 62.224943 meters # Minimum depth: 859.992647 meters looking forward 200.000000 meters along route # Maximum depth: 863.667261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.992647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796882; longitude = -118.632776; captureRadius = 10; duration = 62; initialDepth = 787.992647; finalDepth = 789.590262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9858929999999 # Altitude Set: 73.9858929999999 # Vehicle Depth:787.992647 # Seafloor Depth:-861.319107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 177.57; MB_Bottom_Detect_Filter_Min_Depth = 36.99; MB_Bottom_Detect_Filter_Max_Depth = 177.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.438967 meters # Minimum depth: 857.843001 meters looking forward 200.000000 meters along route # Maximum depth: 862.041785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.843001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797389; longitude = -118.632488; captureRadius = 10; duration = 100; initialDepth = 785.843001; finalDepth = 787.992647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9772710000001 # Altitude Set: 73.9772710000001 # Vehicle Depth:785.843001 # Seafloor Depth:-859.820272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 177.55; MB_Bottom_Detect_Filter_Min_Depth = 36.99; MB_Bottom_Detect_Filter_Max_Depth = 177.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.103792 meters # Minimum depth: 855.739168 meters looking forward 200.000000 meters along route # Maximum depth: 859.354600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.739168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798207; longitude = -118.632023; captureRadius = 10; duration = 106; initialDepth = 783.739168; finalDepth = 785.843001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.9772710000001 # Altitude Set: 73.9772710000001 # Vehicle Depth:783.739168 # Seafloor Depth:-857.524279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 177.55; MB_Bottom_Detect_Filter_Min_Depth = 36.99; MB_Bottom_Detect_Filter_Max_Depth = 177.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.103590 meters # Minimum depth: 851.930241 meters looking forward 200.000000 meters along route # Maximum depth: 857.197255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.930241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799071; longitude = -118.631531; captureRadius = 10; duration = 106; initialDepth = 779.930241; finalDepth = 783.739168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8560209999999 # Altitude Set: 74.8560209999999 # Vehicle Depth:779.930241 # Seafloor Depth:-854.786262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.43; MB_Bottom_Detect_Filter_Max_Range = 179.65; MB_Bottom_Detect_Filter_Min_Depth = 37.43; MB_Bottom_Detect_Filter_Max_Depth = 179.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.103387 meters # Minimum depth: 849.894818 meters looking forward 200.000000 meters along route # Maximum depth: 854.158094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 777.894818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799935; longitude = -118.631040; captureRadius = 10; duration = 106; initialDepth = 777.894818; finalDepth = 779.930241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.8560209999999 # Altitude Set: 74.8560209999999 # Vehicle Depth:777.894818 # Seafloor Depth:-851.639605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.43; MB_Bottom_Detect_Filter_Max_Range = 179.65; MB_Bottom_Detect_Filter_Min_Depth = 37.43; MB_Bottom_Detect_Filter_Max_Depth = 179.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.103185 meters # Minimum depth: 846.594070 meters looking forward 200.000000 meters along route # Maximum depth: 851.099004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 774.594070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800800; longitude = -118.630548; captureRadius = 10; duration = 106; initialDepth = 774.594070; finalDepth = 777.894818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.2348950000001 # Altitude Set: 75.2348950000001 # Vehicle Depth:774.59407 # Seafloor Depth:-849.828965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 180.56; MB_Bottom_Detect_Filter_Min_Depth = 37.62; MB_Bottom_Detect_Filter_Max_Depth = 180.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.569404 meters # Minimum depth: 845.327579 meters looking forward 200.000000 meters along route # Maximum depth: 848.821025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 773.327579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801664; longitude = -118.630057; captureRadius = 10; duration = 109; initialDepth = 773.327579; finalDepth = 774.594070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.2348950000001 # Altitude Set: 75.2348950000001 # Vehicle Depth:773.327579 # Seafloor Depth:-846.583434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 180.56; MB_Bottom_Detect_Filter_Min_Depth = 37.62; MB_Bottom_Detect_Filter_Max_Depth = 180.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.636357 meters # Minimum depth: 843.159537 meters looking forward 200.000000 meters along route # Maximum depth: 846.418203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 771.159537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802556; longitude = -118.629549; captureRadius = 10; duration = 102; initialDepth = 771.159537; finalDepth = 773.327579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.074826 # Altitude Set: 74.074826 # Vehicle Depth:771.159537 # Seafloor Depth:-845.234363 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 106.102577 meters # Minimum depth: 841.075094 meters looking forward 200.000000 meters along route # Maximum depth: 844.934031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 769.075094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.629074; captureRadius = 10; duration = 106; initialDepth = 769.075094; finalDepth = 771.159537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 74.074826 # Altitude Set: 74.074826 # Vehicle Depth:769.075094 # Seafloor Depth:-842.687670 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 106.102375 meters # Minimum depth: 829.581022 meters looking forward 200.000000 meters along route # Maximum depth: 842.323344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 757.581022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804257; longitude = -118.628582; captureRadius = 10; duration = 106; initialDepth = 757.581022; finalDepth = 769.075094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.7701430000001 # Altitude Set: 81.7701430000001 # Vehicle Depth:757.581022 # Seafloor Depth:-839.351165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.89; MB_Bottom_Detect_Filter_Max_Range = 196.25; MB_Bottom_Detect_Filter_Min_Depth = 40.89; MB_Bottom_Detect_Filter_Max_Depth = 196.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.102171 meters # Minimum depth: 817.817312 meters looking forward 200.000000 meters along route # Maximum depth: 837.676154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 745.817312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805121; longitude = -118.628091; captureRadius = 10; duration = 106; initialDepth = 745.817312; finalDepth = 757.581022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.033199 # Altitude Set: 82.033199 # Vehicle Depth:745.817312 # Seafloor Depth:-827.850511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 196.88; MB_Bottom_Detect_Filter_Min_Depth = 41.02; MB_Bottom_Detect_Filter_Max_Depth = 196.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.101970 meters # Minimum depth: 806.212617 meters looking forward 200.000000 meters along route # Maximum depth: 825.615201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 734.212617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805985; longitude = -118.627600; captureRadius = 10; duration = 106; initialDepth = 734.212617; finalDepth = 745.817312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.518725 # Altitude Set: 82.518725 # Vehicle Depth:734.212617 # Seafloor Depth:-816.731342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.26; MB_Bottom_Detect_Filter_Max_Range = 198.04; MB_Bottom_Detect_Filter_Min_Depth = 41.26; MB_Bottom_Detect_Filter_Max_Depth = 198.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.369633 meters # Minimum depth: 794.660056 meters looking forward 200.000000 meters along route # Maximum depth: 814.520892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 722.660056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806850; longitude = -118.627108; captureRadius = 10; duration = 107; initialDepth = 722.660056; finalDepth = 734.212617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.080739 # Altitude Set: 83.080739 # Vehicle Depth:722.660056 # Seafloor Depth:-805.740795 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 104.833698 meters # Minimum depth: 790.614396 meters looking forward 200.000000 meters along route # Maximum depth: 803.555963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 718.614396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807724; longitude = -118.626611; captureRadius = 10; duration = 104; initialDepth = 718.614396; finalDepth = 722.660056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.080739 # Altitude Set: 83.080739 # Vehicle Depth:718.614396 # Seafloor Depth:-794.526534 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 106.101361 meters # Minimum depth: 787.425245 meters looking forward 200.000000 meters along route # Maximum depth: 792.020257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 715.425245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808578; longitude = -118.626125; captureRadius = 10; duration = 106; initialDepth = 715.425245; finalDepth = 718.614396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.9121379999999 # Altitude Set: 75.9121379999999 # Vehicle Depth:715.425245 # Seafloor Depth:-789.777622 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 106.101160 meters # Minimum depth: 777.867744 meters looking forward 200.000000 meters along route # Maximum depth: 788.997288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 705.867744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809442; longitude = -118.625634; captureRadius = 10; duration = 106; initialDepth = 705.867744; finalDepth = 715.425245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 80.526703 # Altitude Set: 80.526703 # Vehicle Depth:705.867744 # Seafloor Depth:-786.394447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.26; MB_Bottom_Detect_Filter_Max_Range = 193.26; MB_Bottom_Detect_Filter_Min_Depth = 40.26; MB_Bottom_Detect_Filter_Max_Depth = 193.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.100956 meters # Minimum depth: 761.199006 meters looking forward 200.000000 meters along route # Maximum depth: 785.468729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 689.199006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810307; longitude = -118.625142; captureRadius = 10; duration = 106; initialDepth = 689.199006; finalDepth = 705.867744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 86.372527 # Altitude Set: 86.372527 # Vehicle Depth:689.199006 # Seafloor Depth:-775.571533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.19; MB_Bottom_Detect_Filter_Max_Range = 207.29; MB_Bottom_Detect_Filter_Min_Depth = 43.19; MB_Bottom_Detect_Filter_Max_Depth = 207.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.100754 meters # Minimum depth: 742.256316 meters looking forward 200.000000 meters along route # Maximum depth: 773.025549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 670.256316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811171; longitude = -118.624651; captureRadius = 10; duration = 106; initialDepth = 670.256316; finalDepth = 689.199006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 88.6855 # Altitude Set: 88.6855 # Vehicle Depth:670.256316 # Seafloor Depth:-758.941816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.34; MB_Bottom_Detect_Filter_Max_Range = 212.85; MB_Bottom_Detect_Filter_Min_Depth = 44.34; MB_Bottom_Detect_Filter_Max_Depth = 212.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.100552 meters # Minimum depth: 721.017584 meters looking forward 200.000000 meters along route # Maximum depth: 755.041717 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 649.017584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812035; longitude = -118.624159; captureRadius = 10; duration = 106; initialDepth = 649.017584; finalDepth = 670.256316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.15396 # Altitude Set: 92.15396 # Vehicle Depth:649.017584 # Seafloor Depth:-741.171544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.08; MB_Bottom_Detect_Filter_Max_Range = 221.17; MB_Bottom_Detect_Filter_Min_Depth = 46.08; MB_Bottom_Detect_Filter_Max_Depth = 221.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.022935 meters # Minimum depth: 702.002714 meters looking forward 200.000000 meters along route # Maximum depth: 737.132901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 630.002714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812899; longitude = -118.623668; captureRadius = 10; duration = 111; initialDepth = 630.002714; finalDepth = 649.017584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 92.15396 # Altitude Set: 92.15396 # Vehicle Depth:630.002714 # Seafloor Depth:-720.841885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.08; MB_Bottom_Detect_Filter_Max_Range = 221.17; MB_Bottom_Detect_Filter_Min_Depth = 46.08; MB_Bottom_Detect_Filter_Max_Depth = 221.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.177561 meters # Minimum depth: 688.818020 meters looking forward 200.000000 meters along route # Maximum depth: 716.944136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 616.818020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813804; longitude = -118.623154; captureRadius = 10; duration = 101; initialDepth = 616.818020; finalDepth = 630.002714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.8391710000001 # Altitude Set: 90.8391710000001 # Vehicle Depth:616.81802 # Seafloor Depth:-701.182269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.42; MB_Bottom_Detect_Filter_Max_Range = 218.01; MB_Bottom_Detect_Filter_Min_Depth = 45.42; MB_Bottom_Detect_Filter_Max_Depth = 218.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.099944 meters # Minimum depth: 674.045035 meters looking forward 200.000000 meters along route # Maximum depth: 698.555672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 602.045035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814628; longitude = -118.622685; captureRadius = 10; duration = 106; initialDepth = 602.045035; finalDepth = 616.818020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.364249 # Altitude Set: 84.364249 # Vehicle Depth:602.045035 # Seafloor Depth:-685.720379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.18; MB_Bottom_Detect_Filter_Max_Range = 202.47; MB_Bottom_Detect_Filter_Min_Depth = 42.18; MB_Bottom_Detect_Filter_Max_Depth = 202.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.099741 meters # Minimum depth: 659.062807 meters looking forward 200.000000 meters along route # Maximum depth: 682.697813 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 587.062807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815492; longitude = -118.622194; captureRadius = 10; duration = 106; initialDepth = 587.062807; finalDepth = 602.045035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.163766 # Altitude Set: 84.163766 # Vehicle Depth:587.062807 # Seafloor Depth:-671.226573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.08; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 42.08; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.099540 meters # Minimum depth: 647.724875 meters looking forward 200.000000 meters along route # Maximum depth: 669.079652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 575.724875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816356; longitude = -118.621702; captureRadius = 10; duration = 106; initialDepth = 575.724875; finalDepth = 587.062807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.163766 # Altitude Set: 84.163766 # Vehicle Depth:575.724875 # Seafloor Depth:-657.027541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.08; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 42.08; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.099336 meters # Minimum depth: 638.234424 meters looking forward 200.000000 meters along route # Maximum depth: 654.513013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 566.234424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817221; longitude = -118.621211; captureRadius = 10; duration = 106; initialDepth = 566.234424; finalDepth = 575.724875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.302666 # Altitude Set: 81.302666 # Vehicle Depth:566.234424 # Seafloor Depth:-646.882480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.65; MB_Bottom_Detect_Filter_Max_Range = 195.13; MB_Bottom_Detect_Filter_Min_Depth = 40.65; MB_Bottom_Detect_Filter_Max_Depth = 195.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.823203 meters # Minimum depth: 628.941700 meters looking forward 200.000000 meters along route # Maximum depth: 644.978956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 556.941700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818085; longitude = -118.620719; captureRadius = 10; duration = 108; initialDepth = 556.941700; finalDepth = 566.234424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.033584 # Altitude Set: 81.033584 # Vehicle Depth:556.9417 # Seafloor Depth:-637.975284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 194.48; MB_Bottom_Detect_Filter_Min_Depth = 40.52; MB_Bottom_Detect_Filter_Max_Depth = 194.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.374863 meters # Minimum depth: 622.086805 meters looking forward 200.000000 meters along route # Maximum depth: 636.188308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 550.086805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818971; longitude = -118.620215; captureRadius = 10; duration = 103; initialDepth = 550.086805; finalDepth = 556.941700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.033584 # Altitude Set: 81.033584 # Vehicle Depth:550.086805 # Seafloor Depth:-628.718883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 194.48; MB_Bottom_Detect_Filter_Min_Depth = 40.52; MB_Bottom_Detect_Filter_Max_Depth = 194.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.098729 meters # Minimum depth: 613.150389 meters looking forward 200.000000 meters along route # Maximum depth: 627.196031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 541.150389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819813; longitude = -118.619736; captureRadius = 10; duration = 106; initialDepth = 541.150389; finalDepth = 550.086805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.2284999999999 # Altitude Set: 79.2284999999999 # Vehicle Depth:541.150389 # Seafloor Depth:-620.378889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.61; MB_Bottom_Detect_Filter_Max_Range = 190.15; MB_Bottom_Detect_Filter_Min_Depth = 39.61; MB_Bottom_Detect_Filter_Max_Depth = 190.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.098527 meters # Minimum depth: 606.224752 meters looking forward 200.000000 meters along route # Maximum depth: 618.665472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 534.224752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820678; longitude = -118.619245; captureRadius = 10; duration = 106; initialDepth = 534.224752; finalDepth = 541.150389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.2284999999999 # Altitude Set: 79.2284999999999 # Vehicle Depth:534.224752 # Seafloor Depth:-611.396073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.61; MB_Bottom_Detect_Filter_Max_Range = 190.15; MB_Bottom_Detect_Filter_Min_Depth = 39.61; MB_Bottom_Detect_Filter_Max_Depth = 190.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.098324 meters # Minimum depth: 598.740980 meters looking forward 200.000000 meters along route # Maximum depth: 610.293803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 526.740980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821542; longitude = -118.618754; captureRadius = 10; duration = 106; initialDepth = 526.740980; finalDepth = 534.224752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.6512759999999 # Altitude Set: 78.6512759999999 # Vehicle Depth:526.74098 # Seafloor Depth:-605.392256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 188.76; MB_Bottom_Detect_Filter_Min_Depth = 39.33; MB_Bottom_Detect_Filter_Max_Depth = 188.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 113.158476 meters # Minimum depth: 589.863982 meters looking forward 200.000000 meters along route # Maximum depth: 604.260509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 517.863982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822406; longitude = -118.618262; captureRadius = 10; duration = 113; initialDepth = 517.863982; finalDepth = 526.740980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.929399 # Altitude Set: 79.929399 # Vehicle Depth:517.863982 # Seafloor Depth:-597.793381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 191.83; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 191.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 77.422560 meters # Minimum depth: 585.705331 meters looking forward 200.000000 meters along route # Maximum depth: 597.793381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 513.705331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823328; longitude = -118.617738; captureRadius = 10; duration = 77; initialDepth = 513.705331; finalDepth = 517.863982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 79.929399 # Altitude Set: 79.929399 # Vehicle Depth:513.705331 # Seafloor Depth:-589.216370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 191.83; MB_Bottom_Detect_Filter_Min_Depth = 39.96; MB_Bottom_Detect_Filter_Max_Depth = 191.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.558624 meters # Minimum depth: 574.616299 meters looking forward 200.000000 meters along route # Maximum depth: 590.210029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 502.616299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823962; longitude = -118.617388; captureRadius = 10; duration = 105; initialDepth = 502.616299; finalDepth = 513.705331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.051547 # Altitude Set: 82.051547 # Vehicle Depth:502.616299 # Seafloor Depth:-584.667846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.03; MB_Bottom_Detect_Filter_Max_Range = 196.92; MB_Bottom_Detect_Filter_Min_Depth = 41.03; MB_Bottom_Detect_Filter_Max_Depth = 196.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.902469 meters # Minimum depth: 561.778392 meters looking forward 200.000000 meters along route # Maximum depth: 582.777005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 489.778392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824826; longitude = -118.616910; captureRadius = 10; duration = 109; initialDepth = 489.778392; finalDepth = 502.616299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.337502 # Altitude Set: 84.337502 # Vehicle Depth:489.778392 # Seafloor Depth:-574.115894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.17; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 42.17; MB_Bottom_Detect_Filter_Max_Depth = 202.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.214202 meters # Minimum depth: 549.160269 meters looking forward 200.000000 meters along route # Maximum depth: 571.815274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 477.160269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825726; longitude = -118.616413; captureRadius = 10; duration = 101; initialDepth = 477.160269; finalDepth = 489.778392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.337502 # Altitude Set: 84.337502 # Vehicle Depth:477.160269 # Seafloor Depth:-561.195349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.17; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 42.17; MB_Bottom_Detect_Filter_Max_Depth = 202.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.558048 meters # Minimum depth: 532.340711 meters looking forward 200.000000 meters along route # Maximum depth: 558.897262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 460.340711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826555; longitude = -118.615955; captureRadius = 10; duration = 105; initialDepth = 460.340711; finalDepth = 477.160269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.491726 # Altitude Set: 85.491726 # Vehicle Depth:460.340711 # Seafloor Depth:-545.832437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.75; MB_Bottom_Detect_Filter_Max_Range = 205.18; MB_Bottom_Detect_Filter_Min_Depth = 42.75; MB_Bottom_Detect_Filter_Max_Depth = 205.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.557856 meters # Minimum depth: 511.138618 meters looking forward 200.000000 meters along route # Maximum depth: 543.821134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 439.138618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827419; longitude = -118.615477; captureRadius = 10; duration = 105; initialDepth = 439.138618; finalDepth = 460.340711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.559089 # Altitude Set: 90.559089 # Vehicle Depth:439.138618 # Seafloor Depth:-529.697707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.28; MB_Bottom_Detect_Filter_Max_Range = 217.34; MB_Bottom_Detect_Filter_Min_Depth = 45.28; MB_Bottom_Detect_Filter_Max_Depth = 217.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.816551 meters # Minimum depth: 490.823318 meters looking forward 200.000000 meters along route # Maximum depth: 525.876976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 418.823318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828283; longitude = -118.614999; captureRadius = 10; duration = 107; initialDepth = 418.823318; finalDepth = 439.138618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.075018 # Altitude Set: 91.075018 # Vehicle Depth:418.823318 # Seafloor Depth:-509.898336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 218.58; MB_Bottom_Detect_Filter_Min_Depth = 45.54; MB_Bottom_Detect_Filter_Max_Depth = 218.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.298584 meters # Minimum depth: 471.655373 meters looking forward 200.000000 meters along route # Maximum depth: 506.164493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 399.655373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829166; longitude = -118.614511; captureRadius = 10; duration = 103; initialDepth = 399.655373; finalDepth = 418.823318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.075018 # Altitude Set: 91.075018 # Vehicle Depth:399.655373 # Seafloor Depth:-490.367856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 218.58; MB_Bottom_Detect_Filter_Min_Depth = 45.54; MB_Bottom_Detect_Filter_Max_Depth = 218.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.557280 meters # Minimum depth: 446.801148 meters looking forward 200.000000 meters along route # Maximum depth: 486.477381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 374.801148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830012; longitude = -118.614044; captureRadius = 10; duration = 105; initialDepth = 374.801148; finalDepth = 399.655373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.686485 # Altitude Set: 91.686485 # Vehicle Depth:374.801148 # Seafloor Depth:-466.487633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.84; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 45.84; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.557088 meters # Minimum depth: 423.740362 meters looking forward 200.000000 meters along route # Maximum depth: 463.775560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 351.740362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830876; longitude = -118.613566; captureRadius = 10; duration = 105; initialDepth = 351.740362; finalDepth = 374.801148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.686485 # Altitude Set: 91.686485 # Vehicle Depth:351.740362 # Seafloor Depth:-443.179875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.84; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 45.84; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.730666 meters # Minimum depth: 400.700676 meters looking forward 200.000000 meters along route # Maximum depth: 439.060365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 328.700676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831740; longitude = -118.613088; captureRadius = 10; duration = 105; initialDepth = 328.700676; finalDepth = 351.740362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.415747 # Altitude Set: 93.415747 # Vehicle Depth:328.700676 # Seafloor Depth:-422.116423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.71; MB_Bottom_Detect_Filter_Max_Range = 224.20; MB_Bottom_Detect_Filter_Min_Depth = 46.71; MB_Bottom_Detect_Filter_Max_Depth = 224.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.382935 meters # Minimum depth: 380.919509 meters looking forward 200.000000 meters along route # Maximum depth: 419.179421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 308.919509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832606; longitude = -118.612610; captureRadius = 10; duration = 105; initialDepth = 308.919509; finalDepth = 328.700676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 93.415747 # Altitude Set: 93.415747 # Vehicle Depth:308.919509 # Seafloor Depth:-400.645898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.71; MB_Bottom_Detect_Filter_Max_Range = 224.20; MB_Bottom_Detect_Filter_Min_Depth = 46.71; MB_Bottom_Detect_Filter_Max_Depth = 224.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.556512 meters # Minimum depth: 360.034862 meters looking forward 200.000000 meters along route # Maximum depth: 394.365102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 288.034862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833469; longitude = -118.612133; captureRadius = 10; duration = 105; initialDepth = 288.034862; finalDepth = 308.919509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 91.726389 # Altitude Set: 91.726389 # Vehicle Depth:288.034862 # Seafloor Depth:-376.564018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.86; MB_Bottom_Detect_Filter_Max_Range = 220.14; MB_Bottom_Detect_Filter_Min_Depth = 45.86; MB_Bottom_Detect_Filter_Max_Depth = 220.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.556320 meters # Minimum depth: 339.325217 meters looking forward 200.000000 meters along route # Maximum depth: 372.165871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 267.325217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834333; longitude = -118.611655; captureRadius = 10; duration = 105; initialDepth = 267.325217; finalDepth = 288.034862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.31009 # Altitude Set: 89.31009 # Vehicle Depth:267.325217 # Seafloor Depth:-356.635307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 214.34; MB_Bottom_Detect_Filter_Min_Depth = 44.66; MB_Bottom_Detect_Filter_Max_Depth = 214.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.556129 meters # Minimum depth: 327.615798 meters looking forward 200.000000 meters along route # Maximum depth: 353.372944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 255.615798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835197; longitude = -118.611178; captureRadius = 10; duration = 105; initialDepth = 255.615798; finalDepth = 267.325217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 89.31009 # Altitude Set: 89.31009 # Vehicle Depth:255.615798 # Seafloor Depth:-337.499100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 214.34; MB_Bottom_Detect_Filter_Min_Depth = 44.66; MB_Bottom_Detect_Filter_Max_Depth = 214.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.555937 meters # Minimum depth: 325.830238 meters looking forward 200.000000 meters along route # Maximum depth: 334.336050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 253.830238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836062; longitude = -118.610700; captureRadius = 10; duration = 105; initialDepth = 253.830238; finalDepth = 255.615798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.883302 # Altitude Set: 81.883302 # Vehicle Depth:253.830238 # Seafloor Depth:-327.546138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.94; MB_Bottom_Detect_Filter_Max_Range = 196.52; MB_Bottom_Detect_Filter_Min_Depth = 40.94; MB_Bottom_Detect_Filter_Max_Depth = 196.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.555744 meters # Minimum depth: 325.830238 meters looking forward 200.000000 meters along route # Maximum depth: 330.360267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 253.830238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836926; longitude = -118.610222; captureRadius = 10; duration = 105; initialDepth = 253.830238; finalDepth = 253.830238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 73.7159 # Altitude Set: 73.7159 # Vehicle Depth:253.830238 # Seafloor Depth:-326.046669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 176.92; MB_Bottom_Detect_Filter_Min_Depth = 36.86; MB_Bottom_Detect_Filter_Max_Depth = 176.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.555553 meters # Minimum depth: 326.977828 meters looking forward 200.000000 meters along route # Maximum depth: 330.805757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 254.977828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837790; longitude = -118.609744; captureRadius = 10; duration = 105; initialDepth = 254.977828; finalDepth = 253.830238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 75.827929 # Altitude Set: 75.827929 # Vehicle Depth:254.977828 # Seafloor Depth:-330.805757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 181.99; MB_Bottom_Detect_Filter_Min_Depth = 37.91; MB_Bottom_Detect_Filter_Max_Depth = 181.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.555361 meters # Minimum depth: 321.396849 meters looking forward 200.000000 meters along route # Maximum depth: 330.786000 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 249.396849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838654; longitude = -118.609267; captureRadius = 10; duration = 105; initialDepth = 249.396849; finalDepth = 254.977828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 78.793736 # Altitude Set: 78.793736 # Vehicle Depth:249.396849 # Seafloor Depth:-328.190585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 189.10; MB_Bottom_Detect_Filter_Min_Depth = 39.40; MB_Bottom_Detect_Filter_Max_Depth = 189.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.586060 meters # Minimum depth: 310.835177 meters looking forward 200.000000 meters along route # Maximum depth: 327.116682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 238.835177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839519; longitude = -118.608789; captureRadius = 10; duration = 110; initialDepth = 238.835177; finalDepth = 249.396849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.22267 # Altitude Set: 82.22267 # Vehicle Depth:238.835177 # Seafloor Depth:-321.057847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.11; MB_Bottom_Detect_Filter_Max_Range = 197.33; MB_Bottom_Detect_Filter_Min_Depth = 41.11; MB_Bottom_Detect_Filter_Max_Depth = 197.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.524086 meters # Minimum depth: 302.620869 meters looking forward 200.000000 meters along route # Maximum depth: 319.190235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 230.620869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840424; longitude = -118.608289; captureRadius = 10; duration = 100; initialDepth = 230.620869; finalDepth = 238.835177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.22267 # Altitude Set: 82.22267 # Vehicle Depth:230.620869 # Seafloor Depth:-310.328078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.11; MB_Bottom_Detect_Filter_Max_Range = 197.33; MB_Bottom_Detect_Filter_Min_Depth = 41.11; MB_Bottom_Detect_Filter_Max_Depth = 197.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.554786 meters # Minimum depth: 289.174897 meters looking forward 200.000000 meters along route # Maximum depth: 308.746449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 217.174897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841247; longitude = -118.607834; captureRadius = 10; duration = 105; initialDepth = 217.174897; finalDepth = 230.620869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.014863 # Altitude Set: 83.014863 # Vehicle Depth:217.174897 # Seafloor Depth:-300.189760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.24; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.51; MB_Bottom_Detect_Filter_Max_Range = 199.24; MB_Bottom_Detect_Filter_Min_Depth = 41.51; MB_Bottom_Detect_Filter_Max_Depth = 199.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.554593 meters # Minimum depth: 274.868083 meters looking forward 200.000000 meters along route # Maximum depth: 298.525484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 202.868083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842111; longitude = -118.607356; captureRadius = 10; duration = 105; initialDepth = 202.868083; finalDepth = 217.174897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 84.524971 # Altitude Set: 84.524971 # Vehicle Depth:202.868083 # Seafloor Depth:-287.393054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.26; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 42.26; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.500203 meters # Minimum depth: 258.092441 meters looking forward 200.000000 meters along route # Maximum depth: 284.870068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 186.092441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842976; longitude = -118.606878; captureRadius = 10; duration = 108; initialDepth = 186.092441; finalDepth = 202.868083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.947468 # Altitude Set: 87.947468 # Vehicle Depth:186.092441 # Seafloor Depth:-274.039909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 43.97; MB_Bottom_Detect_Filter_Max_Depth = 211.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.608409 meters # Minimum depth: 245.194640 meters looking forward 200.000000 meters along route # Maximum depth: 270.991020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 173.194640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843864; longitude = -118.606387; captureRadius = 10; duration = 102; initialDepth = 173.194640; finalDepth = 186.092441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 87.947468 # Altitude Set: 87.947468 # Vehicle Depth:173.19464 # Seafloor Depth:-257.659032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 43.97; MB_Bottom_Detect_Filter_Max_Depth = 211.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.554017 meters # Minimum depth: 228.775943 meters looking forward 200.000000 meters along route # Maximum depth: 254.941985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 156.775943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844704; longitude = -118.605923; captureRadius = 10; duration = 105; initialDepth = 156.775943; finalDepth = 173.194640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.053268 # Altitude Set: 85.053268 # Vehicle Depth:156.775943 # Seafloor Depth:-241.829211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.53; MB_Bottom_Detect_Filter_Max_Range = 204.13; MB_Bottom_Detect_Filter_Min_Depth = 42.53; MB_Bottom_Detect_Filter_Max_Depth = 204.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.553826 meters # Minimum depth: 215.100037 meters looking forward 200.000000 meters along route # Maximum depth: 239.905077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 143.100037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845568; longitude = -118.605445; captureRadius = 10; duration = 105; initialDepth = 143.100037; finalDepth = 156.775943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.053268 # Altitude Set: 85.053268 # Vehicle Depth:143.100037 # Seafloor Depth:-226.566711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.53; MB_Bottom_Detect_Filter_Max_Range = 204.13; MB_Bottom_Detect_Filter_Min_Depth = 42.53; MB_Bottom_Detect_Filter_Max_Depth = 204.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.414376 meters # Minimum depth: 202.414323 meters looking forward 200.000000 meters along route # Maximum depth: 223.998846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 130.414323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846433; longitude = -118.604967; captureRadius = 10; duration = 106; initialDepth = 130.414323; finalDepth = 143.100037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.763443 # Altitude Set: 83.763443 # Vehicle Depth:130.414323 # Seafloor Depth:-214.177766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 201.03; MB_Bottom_Detect_Filter_Min_Depth = 41.88; MB_Bottom_Detect_Filter_Max_Depth = 201.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.692701 meters # Minimum depth: 193.992037 meters looking forward 200.000000 meters along route # Maximum depth: 211.711010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 121.992037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847304; longitude = -118.604486; captureRadius = 10; duration = 104; initialDepth = 121.992037; finalDepth = 130.414323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 83.763443 # Altitude Set: 83.763443 # Vehicle Depth:121.992037 # Seafloor Depth:-202.329871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.03; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 201.03; MB_Bottom_Detect_Filter_Min_Depth = 41.88; MB_Bottom_Detect_Filter_Max_Depth = 201.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.553250 meters # Minimum depth: 182.738894 meters looking forward 200.000000 meters along route # Maximum depth: 200.338313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 110.738894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848161; longitude = -118.604012; captureRadius = 10; duration = 105; initialDepth = 110.738894; finalDepth = 121.992037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.115983 # Altitude Set: 81.115983 # Vehicle Depth:110.738894 # Seafloor Depth:-191.854877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.56; MB_Bottom_Detect_Filter_Max_Range = 194.68; MB_Bottom_Detect_Filter_Min_Depth = 40.56; MB_Bottom_Detect_Filter_Max_Depth = 194.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.553059 meters # Minimum depth: 171.478394 meters looking forward 200.000000 meters along route # Maximum depth: 189.713762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 99.478394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849025; longitude = -118.603534; captureRadius = 10; duration = 105; initialDepth = 99.478394; finalDepth = 110.738894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 81.308902 # Altitude Set: 81.308902 # Vehicle Depth:99.478394 # Seafloor Depth:-180.787296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.65; MB_Bottom_Detect_Filter_Max_Range = 195.14; MB_Bottom_Detect_Filter_Min_Depth = 40.65; MB_Bottom_Detect_Filter_Max_Depth = 195.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552867 meters # Minimum depth: 157.423568 meters looking forward 200.000000 meters along route # Maximum depth: 179.194935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 85.423568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849890; longitude = -118.603057; captureRadius = 10; duration = 105; initialDepth = 85.423568; finalDepth = 99.478394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.343066 # Altitude Set: 85.343066 # Vehicle Depth:85.423568 # Seafloor Depth:-170.766634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.67; MB_Bottom_Detect_Filter_Max_Range = 204.82; MB_Bottom_Detect_Filter_Min_Depth = 42.67; MB_Bottom_Detect_Filter_Max_Depth = 204.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552675 meters # Minimum depth: 146.527161 meters looking forward 200.000000 meters along route # Maximum depth: 169.088417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 74.527161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850754; longitude = -118.602579; captureRadius = 10; duration = 105; initialDepth = 74.527161; finalDepth = 85.423568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.343066 # Altitude Set: 85.343066 # Vehicle Depth:74.527161 # Seafloor Depth:-157.234790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.82; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.67; MB_Bottom_Detect_Filter_Max_Range = 204.82; MB_Bottom_Detect_Filter_Min_Depth = 42.67; MB_Bottom_Detect_Filter_Max_Depth = 204.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552483 meters # Minimum depth: 133.268872 meters looking forward 200.000000 meters along route # Maximum depth: 154.149101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 61.268872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851618; longitude = -118.602101; captureRadius = 10; duration = 105; initialDepth = 61.268872; finalDepth = 74.527161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 82.707629 # Altitude Set: 82.707629 # Vehicle Depth:61.268872 # Seafloor Depth:-143.917760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.35; MB_Bottom_Detect_Filter_Max_Range = 198.50; MB_Bottom_Detect_Filter_Min_Depth = 41.35; MB_Bottom_Detect_Filter_Max_Depth = 198.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552291 meters # Minimum depth: 116.979590 meters looking forward 200.000000 meters along route # Maximum depth: 141.305453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 44.979590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852482; longitude = -118.601623; captureRadius = 10; duration = 105; initialDepth = 44.979590; finalDepth = 61.268872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 85.414039 # Altitude Set: 85.414039 # Vehicle Depth:44.97959 # Seafloor Depth:-130.393629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.71; MB_Bottom_Detect_Filter_Max_Range = 204.99; MB_Bottom_Detect_Filter_Min_Depth = 42.71; MB_Bottom_Detect_Filter_Max_Depth = 204.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.242814 meters # Minimum depth: 96.998829 meters looking forward 200.000000 meters along route # Maximum depth: 128.047309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 24.998829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853347; longitude = -118.601146; captureRadius = 10; duration = 102; initialDepth = 24.998829; finalDepth = 44.979590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.055696 # Altitude Set: 90.055696 # Vehicle Depth:24.998829 # Seafloor Depth:-115.054525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.03; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 45.03; MB_Bottom_Detect_Filter_Max_Depth = 216.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.870876 meters # Minimum depth: 89.799284 meters looking forward 200.000000 meters along route # Maximum depth: 111.128966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 17.799284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854184; longitude = -118.600683; captureRadius = 10; duration = 101; initialDepth = 17.799284; finalDepth = 24.998829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 90.055696 # Altitude Set: 90.055696 # Vehicle Depth:17.799284 # Seafloor Depth:-94.568809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.03; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 45.03; MB_Bottom_Detect_Filter_Max_Depth = 216.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 76.769525 # Altitude Set: 76.769525 # Vehicle Depth:17.484093 # Seafloor Depth:-89.484093 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 184.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 184.25; MB_Bottom_Detect_Filter_Min_Depth = 38.38; MB_Bottom_Detect_Filter_Max_Depth = 184.25; 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: 89.484093 meters looking forward 200.000000 meters along route # Maximum depth: 111.128966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 850.000000 meters # Desired vehicle altitude: 72.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 17.484093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855018; longitude = -118.600222; captureRadius = 10; duration = 500; initialDepth = 17.484093; finalDepth = 17.799284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 205.656903; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 205.656903; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################