# 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: SMBSurveyPlan09.rte # Mission File: SMBSurveyPlan09.cfg # Distance: 37668.659437 (m) # Estimated Time: 28781 (s) 7.995 (hr) # Abort Time: 37416 (s) # Way Points: 24 # Route Points: 359 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 60 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 950 (m) # Abort Vehicle Depth: 1000 (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 -118.605196 33.860916 -92.596285 0.000000 1 # 1 -118.621542 33.844032 -361.379913 2407.104707 1 # 2 -118.663889 33.791523 -873.897354 9427.168105 1 # 3 -118.670573 33.783111 -899.381149 10546.772403 1 # 4 -118.672013 33.783745 -899.753235 10697.531222 1 # 5 -118.665560 33.792100 -876.025146 11800.133000 1 # 6 -118.667001 33.792733 -880.614670 11950.909509 1 # 7 -118.673223 33.784264 -899.919022 13052.821651 1 # 8 -118.674606 33.784782 -899.303574 13193.192894 1 # 9 -118.668499 33.792964 -883.482941 14262.430494 1 # 10 -118.670112 33.793598 -889.186874 14427.514940 1 # 11 -118.675931 33.785358 -899.522446 15488.424235 1 # 12 -118.677199 33.785992 -899.852753 15625.292388 1 # 13 -118.672186 33.793252 -893.746643 16554.711362 1 # 14 -118.663544 33.789276 -872.917755 17468.414772 1 # 15 -118.665042 33.787433 -882.840637 17715.443000 1 # 16 -118.674721 33.791754 -894.726410 18731.812861 1 # 17 -118.676162 33.789795 -892.920746 18986.784895 1 # 18 -118.666424 33.785531 -888.708893 20005.043084 1 # 19 -118.668153 33.784148 -898.960007 20226.773523 1 # 20 -118.821817 33.713808 -916.574707 36460.862153 1 # 21 -118.822356 33.715424 -916.200684 36646.928156 1 # 22 -118.813914 33.715245 -918.323242 37429.645079 1 # 23 -118.813914 33.717400 -918.080078 37668.659437 1 # # A total of 359 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 37668.659437 #define MISSION_TIME 28781 #define MISSION_TIMEOUT 37416 #define DEPTH_MAX 950.000000 #define DEPTH_ABORT 1000.000000 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 60.000000 #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 = 2203; 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 23 # Segment length 9.729923 meters # Minimum depth: 918.080078 meters looking forward 200.000000 meters along route # Maximum depth: 918.080078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.080078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.717400; longitude = -118.813914; captureRadius = 10; duration = 9; initialDepth = 868.080078; finalDepth = 868.080078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50 # Altitude Set: 50 # Vehicle Depth:868.080078 # Seafloor Depth:-918.080078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 115.027625 meters # Minimum depth: 918.080078 meters looking forward 200.000000 meters along route # Maximum depth: 918.205794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.080078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.717312; longitude = -118.813914; captureRadius = 10; duration = 115; initialDepth = 868.080078; finalDepth = 868.080078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.020699 # Altitude Set: 50.020699 # Vehicle Depth:868.080078 # Seafloor Depth:-918.100777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.05; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 114.256810 meters # Minimum depth: 918.143746 meters looking forward 200.000000 meters along route # Maximum depth: 918.323434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.143746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.716275; longitude = -118.813914; captureRadius = 10; duration = 114; initialDepth = 868.143746; finalDepth = 868.080078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.082031 # Altitude Set: 50.082031 # Vehicle Depth:868.143746 # Seafloor Depth:-918.225777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.20; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 108.471082 meters # Minimum depth: 918.119873 meters looking forward 200.000000 meters along route # Maximum depth: 918.323434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.119873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715245; longitude = -118.813914; captureRadius = 10; duration = 108; initialDepth = 868.119873; finalDepth = 868.143746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2033690000001 # Altitude Set: 50.2033690000001 # Vehicle Depth:868.119873 # Seafloor Depth:-918.323242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.49; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 112.184129 meters # Minimum depth: 917.842191 meters looking forward 200.000000 meters along route # Maximum depth: 918.275826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.842191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715270; longitude = -118.815084; captureRadius = 10; duration = 112; initialDepth = 867.842191; finalDepth = 868.119873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.238205 # Altitude Set: 50.238205 # Vehicle Depth:867.842191 # Seafloor Depth:-918.080396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.57; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.57; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 112.184149 meters # Minimum depth: 917.550519 meters looking forward 200.000000 meters along route # Maximum depth: 918.001443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.550519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715295; longitude = -118.816294; captureRadius = 10; duration = 112; initialDepth = 867.550519; finalDepth = 867.842191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.249634 # Altitude Set: 50.249634 # Vehicle Depth:867.550519 # Seafloor Depth:-917.800153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.60; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 112.184168 meters # Minimum depth: 917.249848 meters looking forward 200.000000 meters along route # Maximum depth: 917.719247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.249848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715321; longitude = -118.817504; captureRadius = 10; duration = 112; initialDepth = 867.249848; finalDepth = 867.550519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.258344 # Altitude Set: 50.258344 # Vehicle Depth:867.249848 # Seafloor Depth:-917.508192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.62; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 112.184186 meters # Minimum depth: 916.938355 meters looking forward 200.000000 meters along route # Maximum depth: 917.423379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.938355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715347; longitude = -118.818714; captureRadius = 10; duration = 112; initialDepth = 866.938355; finalDepth = 867.249848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.26811 # Altitude Set: 50.26811 # Vehicle Depth:866.938355 # Seafloor Depth:-917.206465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 112.184205 meters # Minimum depth: 916.615144 meters looking forward 200.000000 meters along route # Maximum depth: 917.117746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.615144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715372; longitude = -118.819924; captureRadius = 10; duration = 112; initialDepth = 866.615144; finalDepth = 866.938355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.277875 # Altitude Set: 50.277875 # Vehicle Depth:866.615144 # Seafloor Depth:-916.893019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.67; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.67; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 113.325004 meters # Minimum depth: 916.232925 meters looking forward 200.000000 meters along route # Maximum depth: 916.801995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.232925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715398; longitude = -118.821134; captureRadius = 10; duration = 113; initialDepth = 866.232925; finalDepth = 866.615144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3386909999999 # Altitude Set: 50.3386909999999 # Vehicle Depth:866.232925 # Seafloor Depth:-916.571616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.81; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 81.116622 meters # Minimum depth: 916.200684 meters looking forward 200.000000 meters along route # Maximum depth: 916.571616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.200684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715424; longitude = -118.822356; captureRadius = 10; duration = 81; initialDepth = 866.200684; finalDepth = 866.232925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3386909999999 # Altitude Set: 50.3386909999999 # Vehicle Depth:866.200684 # Seafloor Depth:-916.200684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.81; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.949381 meters # Minimum depth: 916.200684 meters looking forward 200.000000 meters along route # Maximum depth: 916.543337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.200684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.714719; longitude = -118.822121; captureRadius = 10; duration = 104; initialDepth = 866.200684; finalDepth = 866.200684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.172203 # Altitude Set: 50.172203 # Vehicle Depth:866.200684 # Seafloor Depth:-916.372887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 120.41; MB_Bottom_Detect_Filter_Min_Depth = 25.09; MB_Bottom_Detect_Filter_Max_Depth = 120.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 90.718975 meters # Minimum depth: 916.372887 meters looking forward 200.000000 meters along route # Maximum depth: 916.742294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.372887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.713808; longitude = -118.821817; captureRadius = 10; duration = 90; initialDepth = 866.372887; finalDepth = 866.200684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.20182 # Altitude Set: 50.20182 # Vehicle Depth:866.372887 # Seafloor Depth:-916.574707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.48; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.361989 meters # Minimum depth: 916.573723 meters looking forward 200.000000 meters along route # Maximum depth: 916.932531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.573723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.714201; longitude = -118.820959; captureRadius = 10; duration = 109; initialDepth = 866.573723; finalDepth = 866.372887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.20182 # Altitude Set: 50.20182 # Vehicle Depth:866.573723 # Seafloor Depth:-916.742809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.48; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.603611 meters # Minimum depth: 916.819951 meters looking forward 200.000000 meters along route # Maximum depth: 917.147924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.819951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.714675; longitude = -118.819924; captureRadius = 10; duration = 109; initialDepth = 866.819951; finalDepth = 866.573723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.169086 # Altitude Set: 50.169086 # Vehicle Depth:866.819951 # Seafloor Depth:-916.967453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.41; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.41; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.603104 meters # Minimum depth: 917.041204 meters looking forward 200.000000 meters along route # Maximum depth: 917.372616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.041204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715149; longitude = -118.818887; captureRadius = 10; duration = 109; initialDepth = 867.041204; finalDepth = 866.819951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.147502 # Altitude Set: 50.147502 # Vehicle Depth:867.041204 # Seafloor Depth:-917.183849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.35; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.401511 meters # Minimum depth: 917.223940 meters looking forward 200.000000 meters along route # Maximum depth: 917.586368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.223940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.715624; longitude = -118.817850; captureRadius = 10; duration = 110; initialDepth = 867.223940; finalDepth = 867.041204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.166031 # Altitude Set: 50.166031 # Vehicle Depth:867.22394 # Seafloor Depth:-917.389971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.40; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.803178 meters # Minimum depth: 917.447589 meters looking forward 200.000000 meters along route # Maximum depth: 917.744226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.447589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.716102; longitude = -118.816805; captureRadius = 10; duration = 108; initialDepth = 867.447589; finalDepth = 867.223940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.166031 # Altitude Set: 50.166031 # Vehicle Depth:867.447589 # Seafloor Depth:-917.587817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.40; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.601586 meters # Minimum depth: 917.650479 meters looking forward 200.000000 meters along route # Maximum depth: 917.923500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.650479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.716574; longitude = -118.815775; captureRadius = 10; duration = 109; initialDepth = 867.650479; finalDepth = 867.447589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.140228 # Altitude Set: 50.140228 # Vehicle Depth:867.650479 # Seafloor Depth:-917.774873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.34; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.841200 meters # Minimum depth: 917.792871 meters looking forward 200.000000 meters along route # Maximum depth: 918.093009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.792871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.717048; longitude = -118.814738; captureRadius = 10; duration = 100; initialDepth = 867.792871; finalDepth = 867.650479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.159857 # Altitude Set: 50.159857 # Vehicle Depth:867.792871 # Seafloor Depth:-917.952728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.38; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.093726 meters # Minimum depth: 917.980003 meters looking forward 200.000000 meters along route # Maximum depth: 918.227430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.980003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.717485; longitude = -118.813784; captureRadius = 10; duration = 100; initialDepth = 867.980003; finalDepth = 867.792871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.159857 # Altitude Set: 50.159857 # Vehicle Depth:867.980003 # Seafloor Depth:-918.107204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.38; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.600151 meters # Minimum depth: 918.147559 meters looking forward 200.000000 meters along route # Maximum depth: 918.392541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.147559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.717919; longitude = -118.812837; captureRadius = 10; duration = 109; initialDepth = 868.147559; finalDepth = 867.980003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.127201 # Altitude Set: 50.127201 # Vehicle Depth:868.147559 # Seafloor Depth:-918.253712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.31; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.599646 meters # Minimum depth: 918.281906 meters looking forward 200.000000 meters along route # Maximum depth: 918.548728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.281906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.718393; longitude = -118.811800; captureRadius = 10; duration = 109; initialDepth = 868.281906; finalDepth = 868.147559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.124232 # Altitude Set: 50.124232 # Vehicle Depth:868.281906 # Seafloor Depth:-918.406138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.30; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.599139 meters # Minimum depth: 918.444679 meters looking forward 200.000000 meters along route # Maximum depth: 918.660604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.444679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.718868; longitude = -118.810763; captureRadius = 10; duration = 109; initialDepth = 868.444679; finalDepth = 868.281906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.124232 # Altitude Set: 50.124232 # Vehicle Depth:868.444679 # Seafloor Depth:-918.548798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.30; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.598633 meters # Minimum depth: 918.593747 meters looking forward 200.000000 meters along route # Maximum depth: 918.786181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.593747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.719343; longitude = -118.809726; captureRadius = 10; duration = 109; initialDepth = 868.593747; finalDepth = 868.444679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1041190000001 # Altitude Set: 50.1041190000001 # Vehicle Depth:868.593747 # Seafloor Depth:-918.681692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.25; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.598127 meters # Minimum depth: 918.724688 meters looking forward 200.000000 meters along route # Maximum depth: 918.912321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.724688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.719818; longitude = -118.808688; captureRadius = 10; duration = 109; initialDepth = 868.724688; finalDepth = 868.593747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.087945 # Altitude Set: 50.087945 # Vehicle Depth:868.724688 # Seafloor Depth:-918.805808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.21; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.21; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.102535 meters # Minimum depth: 918.827491 meters looking forward 200.000000 meters along route # Maximum depth: 919.029618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.827491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.720292; longitude = -118.807651; captureRadius = 10; duration = 110; initialDepth = 868.827491; finalDepth = 868.724688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.094128 # Altitude Set: 50.094128 # Vehicle Depth:868.827491 # Seafloor Depth:-918.921619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.23; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.092202 meters # Minimum depth: 918.952885 meters looking forward 200.000000 meters along route # Maximum depth: 919.111591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.952885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.720769; longitude = -118.806609; captureRadius = 10; duration = 109; initialDepth = 868.952885; finalDepth = 868.827491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.094128 # Altitude Set: 50.094128 # Vehicle Depth:868.952885 # Seafloor Depth:-919.030107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.23; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.596609 meters # Minimum depth: 919.063203 meters looking forward 200.000000 meters along route # Maximum depth: 919.202462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.063203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.721242; longitude = -118.805577; captureRadius = 10; duration = 109; initialDepth = 869.063203; finalDepth = 868.952885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.077222 # Altitude Set: 50.077222 # Vehicle Depth:869.063203 # Seafloor Depth:-919.127851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.19; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.542663 meters # Minimum depth: 919.136992 meters looking forward 200.000000 meters along route # Maximum depth: 919.281703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.136992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.721717; longitude = -118.804540; captureRadius = 10; duration = 100; initialDepth = 869.136992; finalDepth = 869.063203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.078388 # Altitude Set: 50.078388 # Vehicle Depth:869.136992 # Seafloor Depth:-919.215380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.19; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.383140 meters # Minimum depth: 919.228375 meters looking forward 200.000000 meters along route # Maximum depth: 919.340101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.228375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.722152; longitude = -118.803589; captureRadius = 10; duration = 100; initialDepth = 869.228375; finalDepth = 869.136992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.078388 # Altitude Set: 50.078388 # Vehicle Depth:869.228375 # Seafloor Depth:-919.287211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.19; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.19; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.595176 meters # Minimum depth: 919.305498 meters looking forward 200.000000 meters along route # Maximum depth: 919.404546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.305498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.722587; longitude = -118.802639; captureRadius = 10; duration = 109; initialDepth = 869.305498; finalDepth = 869.228375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0588359999999 # Altitude Set: 50.0588359999999 # Vehicle Depth:869.305498 # Seafloor Depth:-919.350128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.14; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.594670 meters # Minimum depth: 919.360851 meters looking forward 200.000000 meters along route # Maximum depth: 919.458578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.360851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.723062; longitude = -118.801601; captureRadius = 10; duration = 109; initialDepth = 869.360851; finalDepth = 869.305498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0489249999999 # Altitude Set: 50.0489249999999 # Vehicle Depth:869.360851 # Seafloor Depth:-919.409776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.12; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.594164 meters # Minimum depth: 919.423302 meters looking forward 200.000000 meters along route # Maximum depth: 919.492659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.423302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.723536; longitude = -118.800564; captureRadius = 10; duration = 109; initialDepth = 869.423302; finalDepth = 869.360851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0489249999999 # Altitude Set: 50.0489249999999 # Vehicle Depth:869.423302 # Seafloor Depth:-919.458730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.12; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.593658 meters # Minimum depth: 919.473073 meters looking forward 200.000000 meters along route # Maximum depth: 919.524018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.473073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.724011; longitude = -118.799527; captureRadius = 10; duration = 109; initialDepth = 869.473073; finalDepth = 869.423302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0354279999999 # Altitude Set: 50.0354279999999 # Vehicle Depth:869.473073 # Seafloor Depth:-919.497885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.593153 meters # Minimum depth: 919.509648 meters looking forward 200.000000 meters along route # Maximum depth: 919.549063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.509648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.724486; longitude = -118.798490; captureRadius = 10; duration = 109; initialDepth = 869.509648; finalDepth = 869.473073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.024812 # Altitude Set: 50.024812 # Vehicle Depth:869.509648 # Seafloor Depth:-919.529244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.803587 meters # Minimum depth: 919.532807 meters looking forward 200.000000 meters along route # Maximum depth: 919.562665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.532807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.724961; longitude = -118.797453; captureRadius = 10; duration = 109; initialDepth = 869.532807; finalDepth = 869.509648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.019596 # Altitude Set: 50.019596 # Vehicle Depth:869.532807 # Seafloor Depth:-919.550353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.05; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.381200 meters # Minimum depth: 919.554260 meters looking forward 200.000000 meters along route # Maximum depth: 919.567946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.554260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.725436; longitude = -118.796414; captureRadius = 10; duration = 109; initialDepth = 869.554260; finalDepth = 869.532807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0175459999999 # Altitude Set: 50.0175459999999 # Vehicle Depth:869.55426 # Seafloor Depth:-919.562680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.04; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.591635 meters # Minimum depth: 919.565306 meters looking forward 200.000000 meters along route # Maximum depth: 919.568634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.565306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.725910; longitude = -118.795379; captureRadius = 10; duration = 109; initialDepth = 869.565306; finalDepth = 869.554260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.00842 # Altitude Set: 50.00842 # Vehicle Depth:869.565306 # Seafloor Depth:-919.568634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.02; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.591129 meters # Minimum depth: 919.557457 meters looking forward 200.000000 meters along route # Maximum depth: 919.568464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.557457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.726385; longitude = -118.794342; captureRadius = 10; duration = 109; initialDepth = 869.557457; finalDepth = 869.565306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.00838 # Altitude Set: 50.00838 # Vehicle Depth:869.557457 # Seafloor Depth:-919.565837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.02; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.358289 meters # Minimum depth: 919.539664 meters looking forward 200.000000 meters along route # Maximum depth: 919.564128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.539664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.726860; longitude = -118.793305; captureRadius = 10; duration = 110; initialDepth = 869.539664; finalDepth = 869.557457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.017011 # Altitude Set: 50.017011 # Vehicle Depth:869.539664 # Seafloor Depth:-919.556675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.04; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.822453 meters # Minimum depth: 919.520348 meters looking forward 200.000000 meters along route # Maximum depth: 919.552807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.520348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.727338; longitude = -118.792260; captureRadius = 10; duration = 108; initialDepth = 869.520348; finalDepth = 869.539664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0192069999999 # Altitude Set: 50.0192069999999 # Vehicle Depth:869.520348 # Seafloor Depth:-919.539555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.05; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.589612 meters # Minimum depth: 919.489702 meters looking forward 200.000000 meters along route # Maximum depth: 919.532539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.489702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.727809; longitude = -118.791230; captureRadius = 10; duration = 109; initialDepth = 869.489702; finalDepth = 869.520348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.025213 # Altitude Set: 50.025213 # Vehicle Depth:869.489702 # Seafloor Depth:-919.514915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.799024 meters # Minimum depth: 919.451244 meters looking forward 200.000000 meters along route # Maximum depth: 919.511678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.451244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.728284; longitude = -118.790193; captureRadius = 10; duration = 100; initialDepth = 869.451244; finalDepth = 869.489702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0330250000001 # Altitude Set: 50.0330250000001 # Vehicle Depth:869.451244 # Seafloor Depth:-919.484269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.08; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.113951 meters # Minimum depth: 919.414312 meters looking forward 200.000000 meters along route # Maximum depth: 919.478702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.414312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.728720; longitude = -118.789239; captureRadius = 10; duration = 100; initialDepth = 869.414312; finalDepth = 869.451244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0331 # Altitude Set: 50.0331 # Vehicle Depth:869.414312 # Seafloor Depth:-919.447412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.08; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.588180 meters # Minimum depth: 919.357194 meters looking forward 200.000000 meters along route # Maximum depth: 919.437795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.357194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.729154; longitude = -118.788292; captureRadius = 10; duration = 109; initialDepth = 869.357194; finalDepth = 869.414312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.048773 # Altitude Set: 50.048773 # Vehicle Depth:869.357194 # Seafloor Depth:-919.405967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.12; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.587674 meters # Minimum depth: 919.289045 meters looking forward 200.000000 meters along route # Maximum depth: 919.396909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.289045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.729629; longitude = -118.787255; captureRadius = 10; duration = 109; initialDepth = 869.289045; finalDepth = 869.357194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0618440000001 # Altitude Set: 50.0618440000001 # Vehicle Depth:869.289045 # Seafloor Depth:-919.350889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.15; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.587168 meters # Minimum depth: 919.228056 meters looking forward 200.000000 meters along route # Maximum depth: 919.335701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.228056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.730104; longitude = -118.786218; captureRadius = 10; duration = 109; initialDepth = 869.228056; finalDepth = 869.289045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0618440000001 # Altitude Set: 50.0618440000001 # Vehicle Depth:869.228056 # Seafloor Depth:-919.288989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.15; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.586663 meters # Minimum depth: 919.147124 meters looking forward 200.000000 meters along route # Maximum depth: 919.264616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.147124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.730578; longitude = -118.785181; captureRadius = 10; duration = 109; initialDepth = 869.147124; finalDepth = 869.228056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.068746 # Altitude Set: 50.068746 # Vehicle Depth:869.147124 # Seafloor Depth:-919.215870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.16; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.586157 meters # Minimum depth: 919.048828 meters looking forward 200.000000 meters along route # Maximum depth: 919.189543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 869.048828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.731053; longitude = -118.784143; captureRadius = 10; duration = 109; initialDepth = 869.048828; finalDepth = 869.147124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.084157 # Altitude Set: 50.084157 # Vehicle Depth:869.048828 # Seafloor Depth:-919.132985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.20; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.059351 meters # Minimum depth: 918.935987 meters looking forward 200.000000 meters along route # Maximum depth: 919.117188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.935987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.731528; longitude = -118.783106; captureRadius = 10; duration = 110; initialDepth = 868.935987; finalDepth = 869.048828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1043470000001 # Altitude Set: 50.1043470000001 # Vehicle Depth:868.935987 # Seafloor Depth:-919.040334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.25; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.111447 meters # Minimum depth: 918.842700 meters looking forward 200.000000 meters along route # Maximum depth: 919.013672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.842700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.732005; longitude = -118.782065; captureRadius = 10; duration = 109; initialDepth = 868.842700; finalDepth = 868.935987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1043470000001 # Altitude Set: 50.1043470000001 # Vehicle Depth:868.8427 # Seafloor Depth:-918.935547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.25; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.584641 meters # Minimum depth: 918.717836 meters looking forward 200.000000 meters along route # Maximum depth: 918.900061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.717836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.732477; longitude = -118.781032; captureRadius = 10; duration = 109; initialDepth = 868.717836; finalDepth = 868.842700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.104511 # Altitude Set: 50.104511 # Vehicle Depth:868.717836 # Seafloor Depth:-918.822347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.25; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.500525 meters # Minimum depth: 918.583656 meters looking forward 200.000000 meters along route # Maximum depth: 918.811368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.583656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.732952; longitude = -118.779995; captureRadius = 10; duration = 100; initialDepth = 868.583656; finalDepth = 868.717836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.112393 # Altitude Set: 50.112393 # Vehicle Depth:868.583656 # Seafloor Depth:-918.696049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.27; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.403337 meters # Minimum depth: 918.462437 meters looking forward 200.000000 meters along route # Maximum depth: 918.674262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.462437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.733387; longitude = -118.779044; captureRadius = 10; duration = 100; initialDepth = 868.462437; finalDepth = 868.583656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.112393 # Altitude Set: 50.112393 # Vehicle Depth:868.462437 # Seafloor Depth:-918.571274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.27; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.27; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.583209 meters # Minimum depth: 918.295503 meters looking forward 200.000000 meters along route # Maximum depth: 918.536340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.295503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.733822; longitude = -118.778094; captureRadius = 10; duration = 109; initialDepth = 868.295503; finalDepth = 868.462437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1423 # Altitude Set: 50.1423 # Vehicle Depth:868.295503 # Seafloor Depth:-918.437803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.34; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.582703 meters # Minimum depth: 918.111489 meters looking forward 200.000000 meters along route # Maximum depth: 918.409826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 868.111489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.734297; longitude = -118.777056; captureRadius = 10; duration = 109; initialDepth = 868.111489; finalDepth = 868.295503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.168229 # Altitude Set: 50.168229 # Vehicle Depth:868.111489 # Seafloor Depth:-918.279718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.40; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.582198 meters # Minimum depth: 917.961213 meters looking forward 200.000000 meters along route # Maximum depth: 918.235467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.961213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.734772; longitude = -118.776019; captureRadius = 10; duration = 109; initialDepth = 867.961213; finalDepth = 868.111489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.168229 # Altitude Set: 50.168229 # Vehicle Depth:867.961213 # Seafloor Depth:-918.110904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.40; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.581693 meters # Minimum depth: 917.769476 meters looking forward 200.000000 meters along route # Maximum depth: 918.052053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.769476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.735247; longitude = -118.774982; captureRadius = 10; duration = 109; initialDepth = 867.769476; finalDepth = 867.961213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.159456 # Altitude Set: 50.159456 # Vehicle Depth:867.769476 # Seafloor Depth:-917.928932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.38; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.581187 meters # Minimum depth: 917.550405 meters looking forward 200.000000 meters along route # Maximum depth: 917.866321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.550405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.735721; longitude = -118.773945; captureRadius = 10; duration = 109; initialDepth = 867.550405; finalDepth = 867.769476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1867890000001 # Altitude Set: 50.1867890000001 # Vehicle Depth:867.550405 # Seafloor Depth:-917.737194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 120.45; MB_Bottom_Detect_Filter_Min_Depth = 25.09; MB_Bottom_Detect_Filter_Max_Depth = 120.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.760442 meters # Minimum depth: 917.310767 meters looking forward 200.000000 meters along route # Maximum depth: 917.700154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.310767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.736196; longitude = -118.772908; captureRadius = 10; duration = 109; initialDepth = 867.310767; finalDepth = 867.550405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2200439999999 # Altitude Set: 50.2200439999999 # Vehicle Depth:867.310767 # Seafloor Depth:-917.530811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 120.53; MB_Bottom_Detect_Filter_Min_Depth = 25.11; MB_Bottom_Detect_Filter_Max_Depth = 120.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.400417 meters # Minimum depth: 917.118378 meters looking forward 200.000000 meters along route # Maximum depth: 917.471710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 867.118378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.736672; longitude = -118.771869; captureRadius = 10; duration = 109; initialDepth = 867.118378; finalDepth = 867.310767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2200439999999 # Altitude Set: 50.2200439999999 # Vehicle Depth:867.118378 # Seafloor Depth:-917.310393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 120.53; MB_Bottom_Detect_Filter_Min_Depth = 25.11; MB_Bottom_Detect_Filter_Max_Depth = 120.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.579671 meters # Minimum depth: 916.875391 meters looking forward 200.000000 meters along route # Maximum depth: 917.234815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.875391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.737146; longitude = -118.770834; captureRadius = 10; duration = 109; initialDepth = 866.875391; finalDepth = 867.118378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.203613 # Altitude Set: 50.203613 # Vehicle Depth:866.875391 # Seafloor Depth:-917.079004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.49; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.49; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.579166 meters # Minimum depth: 916.599872 meters looking forward 200.000000 meters along route # Maximum depth: 916.997861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.599872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.737620; longitude = -118.769797; captureRadius = 10; duration = 109; initialDepth = 866.599872; finalDepth = 866.875391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.234695 # Altitude Set: 50.234695 # Vehicle Depth:866.599872 # Seafloor Depth:-916.834567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.56; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.315086 meters # Minimum depth: 916.305733 meters looking forward 200.000000 meters along route # Maximum depth: 916.786999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.305733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.738095; longitude = -118.768760; captureRadius = 10; duration = 110; initialDepth = 866.305733; finalDepth = 866.599872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.271717 # Altitude Set: 50.271717 # Vehicle Depth:866.305733 # Seafloor Depth:-916.577450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.65; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.841731 meters # Minimum depth: 916.076487 meters looking forward 200.000000 meters along route # Maximum depth: 916.503159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 866.076487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.738573; longitude = -118.767716; captureRadius = 10; duration = 108; initialDepth = 866.076487; finalDepth = 866.305733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.271717 # Altitude Set: 50.271717 # Vehicle Depth:866.076487 # Seafloor Depth:-916.303900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.65; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.577651 meters # Minimum depth: 915.788077 meters looking forward 200.000000 meters along route # Maximum depth: 916.216367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 865.788077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.739045; longitude = -118.766685; captureRadius = 10; duration = 109; initialDepth = 865.788077; finalDepth = 866.076487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.240467 # Altitude Set: 50.240467 # Vehicle Depth:865.788077 # Seafloor Depth:-916.028544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.58; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.756866 meters # Minimum depth: 915.488477 meters looking forward 200.000000 meters along route # Maximum depth: 916.000908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 865.488477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.739519; longitude = -118.765648; captureRadius = 10; duration = 100; initialDepth = 865.488477; finalDepth = 865.788077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.250268 # Altitude Set: 50.250268 # Vehicle Depth:865.488477 # Seafloor Depth:-915.738745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.60; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.134181 meters # Minimum depth: 915.233276 meters looking forward 200.000000 meters along route # Maximum depth: 915.689380 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 865.233276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.739956; longitude = -118.764695; captureRadius = 10; duration = 100; initialDepth = 865.233276; finalDepth = 865.488477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.250268 # Altitude Set: 50.250268 # Vehicle Depth:865.233276 # Seafloor Depth:-915.462491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.60; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.576220 meters # Minimum depth: 914.897032 meters looking forward 200.000000 meters along route # Maximum depth: 915.387959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 864.897032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.740390; longitude = -118.763747; captureRadius = 10; duration = 109; initialDepth = 864.897032; finalDepth = 865.233276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.28499 # Altitude Set: 50.28499 # Vehicle Depth:864.897032 # Seafloor Depth:-915.182022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.68; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.575714 meters # Minimum depth: 914.545081 meters looking forward 200.000000 meters along route # Maximum depth: 915.127109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 864.545081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.740864; longitude = -118.762710; captureRadius = 10; duration = 109; initialDepth = 864.545081; finalDepth = 864.897032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.32221 # Altitude Set: 50.32221 # Vehicle Depth:864.545081 # Seafloor Depth:-914.867291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.77; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.575209 meters # Minimum depth: 914.273603 meters looking forward 200.000000 meters along route # Maximum depth: 914.781017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 864.273603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.741339; longitude = -118.761673; captureRadius = 10; duration = 109; initialDepth = 864.273603; finalDepth = 864.545081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.32221 # Altitude Set: 50.32221 # Vehicle Depth:864.273603 # Seafloor Depth:-914.544749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.77; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.574704 meters # Minimum depth: 913.942706 meters looking forward 200.000000 meters along route # Maximum depth: 914.438536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 863.942706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.741814; longitude = -118.760636; captureRadius = 10; duration = 109; initialDepth = 863.942706; finalDepth = 864.273603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2751089999999 # Altitude Set: 50.2751089999999 # Vehicle Depth:863.942706 # Seafloor Depth:-914.217815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.66; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.66; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.574199 meters # Minimum depth: 913.577898 meters looking forward 200.000000 meters along route # Maximum depth: 914.108836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 863.577898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742289; longitude = -118.759598; captureRadius = 10; duration = 109; initialDepth = 863.577898; finalDepth = 863.942706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3061719999999 # Altitude Set: 50.3061719999999 # Vehicle Depth:863.577898 # Seafloor Depth:-913.884070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.73; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.016187 meters # Minimum depth: 913.201952 meters looking forward 200.000000 meters along route # Maximum depth: 913.821647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 863.201952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.742763; longitude = -118.758561; captureRadius = 10; duration = 110; initialDepth = 863.201952; finalDepth = 863.577898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.345931 # Altitude Set: 50.345931 # Vehicle Depth:863.201952 # Seafloor Depth:-913.547883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.83; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.130696 meters # Minimum depth: 912.907668 meters looking forward 200.000000 meters along route # Maximum depth: 913.454071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 862.907668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743240; longitude = -118.757520; captureRadius = 10; duration = 109; initialDepth = 862.907668; finalDepth = 863.201952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.345931 # Altitude Set: 50.345931 # Vehicle Depth:862.907668 # Seafloor Depth:-913.200557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.83; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.572685 meters # Minimum depth: 912.547081 meters looking forward 200.000000 meters along route # Maximum depth: 913.084846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 862.547081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.743713; longitude = -118.756487; captureRadius = 10; duration = 109; initialDepth = 862.547081; finalDepth = 862.907668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3016 # Altitude Set: 50.3016 # Vehicle Depth:862.547081 # Seafloor Depth:-912.848681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.72; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.458404 meters # Minimum depth: 912.181529 meters looking forward 200.000000 meters along route # Maximum depth: 912.814274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 862.181529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744188; longitude = -118.755450; captureRadius = 10; duration = 100; initialDepth = 862.181529; finalDepth = 862.547081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3051280000001 # Altitude Set: 50.3051280000001 # Vehicle Depth:862.181529 # Seafloor Depth:-912.486657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.73; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.423538 meters # Minimum depth: 911.876331 meters looking forward 200.000000 meters along route # Maximum depth: 912.426234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 861.876331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.744623; longitude = -118.754499; captureRadius = 10; duration = 100; initialDepth = 861.876331; finalDepth = 862.181529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3051280000001 # Altitude Set: 50.3051280000001 # Vehicle Depth:861.876331 # Seafloor Depth:-912.150365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.73; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.73; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.571254 meters # Minimum depth: 911.480597 meters looking forward 200.000000 meters along route # Maximum depth: 912.059787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 861.480597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745058; longitude = -118.753549; captureRadius = 10; duration = 109; initialDepth = 861.480597; finalDepth = 861.876331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.333522 # Altitude Set: 50.333522 # Vehicle Depth:861.480597 # Seafloor Depth:-911.814119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.80; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.570748 meters # Minimum depth: 911.078692 meters looking forward 200.000000 meters along route # Maximum depth: 911.748504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 861.078692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.745533; longitude = -118.752512; captureRadius = 10; duration = 109; initialDepth = 861.078692; finalDepth = 861.480597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3660639999999 # Altitude Set: 50.3660639999999 # Vehicle Depth:861.078692 # Seafloor Depth:-911.444756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.88; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.570244 meters # Minimum depth: 910.770194 meters looking forward 200.000000 meters along route # Maximum depth: 911.344690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 860.770194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746007; longitude = -118.751474; captureRadius = 10; duration = 109; initialDepth = 860.770194; finalDepth = 861.078692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3660639999999 # Altitude Set: 50.3660639999999 # Vehicle Depth:860.770194 # Seafloor Depth:-911.077346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.88; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.569739 meters # Minimum depth: 910.402962 meters looking forward 200.000000 meters along route # Maximum depth: 910.952923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 860.402962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746482; longitude = -118.750437; captureRadius = 10; duration = 109; initialDepth = 860.402962; finalDepth = 860.770194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3071520000001 # Altitude Set: 50.3071520000001 # Vehicle Depth:860.402962 # Seafloor Depth:-910.709461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.74; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.569234 meters # Minimum depth: 910.015807 meters looking forward 200.000000 meters along route # Maximum depth: 910.586826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 860.015807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.746957; longitude = -118.749400; captureRadius = 10; duration = 109; initialDepth = 860.015807; finalDepth = 860.402962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.328685 # Altitude Set: 50.328685 # Vehicle Depth:860.015807 # Seafloor Depth:-910.344492 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.79; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.717316 meters # Minimum depth: 909.631143 meters looking forward 200.000000 meters along route # Maximum depth: 910.279087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 859.631143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747432; longitude = -118.748363; captureRadius = 10; duration = 109; initialDepth = 859.631143; finalDepth = 860.015807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3527610000001 # Altitude Set: 50.3527610000001 # Vehicle Depth:859.631143 # Seafloor Depth:-909.983904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.85; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.419638 meters # Minimum depth: 909.345476 meters looking forward 200.000000 meters along route # Maximum depth: 909.890026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 859.345476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.747907; longitude = -118.747325; captureRadius = 10; duration = 109; initialDepth = 859.345476; finalDepth = 859.631143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.3527610000001 # Altitude Set: 50.3527610000001 # Vehicle Depth:859.345476 # Seafloor Depth:-909.630669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.85; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.567719 meters # Minimum depth: 909.007486 meters looking forward 200.000000 meters along route # Maximum depth: 909.517922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 859.007486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748381; longitude = -118.746289; captureRadius = 10; duration = 109; initialDepth = 859.007486; finalDepth = 859.345476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.285193 # Altitude Set: 50.285193 # Vehicle Depth:859.007486 # Seafloor Depth:-909.286668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.68; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 120.68; MB_Bottom_Detect_Filter_Min_Depth = 25.14; MB_Bottom_Detect_Filter_Max_Depth = 120.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.567215 meters # Minimum depth: 908.653646 meters looking forward 200.000000 meters along route # Maximum depth: 909.174417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 858.653646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.748856; longitude = -118.745252; captureRadius = 10; duration = 109; initialDepth = 858.653646; finalDepth = 859.007486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.298278 # Altitude Set: 50.298278 # Vehicle Depth:858.653646 # Seafloor Depth:-908.951924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 120.72; MB_Bottom_Detect_Filter_Min_Depth = 25.15; MB_Bottom_Detect_Filter_Max_Depth = 120.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.271902 meters # Minimum depth: 908.309768 meters looking forward 200.000000 meters along route # Maximum depth: 908.890093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 858.309768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749331; longitude = -118.744215; captureRadius = 10; duration = 110; initialDepth = 858.309768; finalDepth = 858.653646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.315769 # Altitude Set: 50.315769 # Vehicle Depth:858.309768 # Seafloor Depth:-908.625537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.76; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.861014 meters # Minimum depth: 908.054264 meters looking forward 200.000000 meters along route # Maximum depth: 908.536399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 858.054264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.749808; longitude = -118.743171; captureRadius = 10; duration = 108; initialDepth = 858.054264; finalDepth = 858.309768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.315769 # Altitude Set: 50.315769 # Vehicle Depth:858.054264 # Seafloor Depth:-908.307840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.76; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.565701 meters # Minimum depth: 907.758632 meters looking forward 200.000000 meters along route # Maximum depth: 908.206203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 857.758632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750280; longitude = -118.742140; captureRadius = 10; duration = 109; initialDepth = 857.758632; finalDepth = 858.054264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2535760000001 # Altitude Set: 50.2535760000001 # Vehicle Depth:857.758632 # Seafloor Depth:-908.004335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.61; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.714726 meters # Minimum depth: 907.476142 meters looking forward 200.000000 meters along route # Maximum depth: 907.975915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 857.476142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.750755; longitude = -118.741103; captureRadius = 10; duration = 100; initialDepth = 857.476142; finalDepth = 857.758632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2457029999999 # Altitude Set: 50.2457029999999 # Vehicle Depth:857.476142 # Seafloor Depth:-907.711550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.59; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.154415 meters # Minimum depth: 907.248649 meters looking forward 200.000000 meters along route # Maximum depth: 907.664599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 857.248649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751191; longitude = -118.740150; captureRadius = 10; duration = 100; initialDepth = 857.248649; finalDepth = 857.476142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.235408 # Altitude Set: 50.235408 # Vehicle Depth:857.248649 # Seafloor Depth:-907.452885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.56; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.564271 meters # Minimum depth: 906.970570 meters looking forward 200.000000 meters along route # Maximum depth: 907.383931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 856.970570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.751625; longitude = -118.739202; captureRadius = 10; duration = 109; initialDepth = 856.970570; finalDepth = 857.248649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2338440000001 # Altitude Set: 50.2338440000001 # Vehicle Depth:856.97057 # Seafloor Depth:-907.204414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.56; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.563766 meters # Minimum depth: 906.705171 meters looking forward 200.000000 meters along route # Maximum depth: 907.159077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 856.705171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752100; longitude = -118.738165; captureRadius = 10; duration = 109; initialDepth = 856.705171; finalDepth = 856.970570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.242151 # Altitude Set: 50.242151 # Vehicle Depth:856.705171 # Seafloor Depth:-906.947322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.58; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.563262 meters # Minimum depth: 906.514688 meters looking forward 200.000000 meters along route # Maximum depth: 906.880156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 856.514688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.752575; longitude = -118.737128; captureRadius = 10; duration = 109; initialDepth = 856.514688; finalDepth = 856.705171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.242151 # Altitude Set: 50.242151 # Vehicle Depth:856.514688 # Seafloor Depth:-906.704865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 120.58; MB_Bottom_Detect_Filter_Min_Depth = 25.12; MB_Bottom_Detect_Filter_Max_Depth = 120.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.562757 meters # Minimum depth: 906.300682 meters looking forward 200.000000 meters along route # Maximum depth: 906.627626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 856.300682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753049; longitude = -118.736091; captureRadius = 10; duration = 109; initialDepth = 856.300682; finalDepth = 856.514688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1901770000001 # Altitude Set: 50.1901770000001 # Vehicle Depth:856.300682 # Seafloor Depth:-906.477042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.46; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.562253 meters # Minimum depth: 906.088135 meters looking forward 200.000000 meters along route # Maximum depth: 906.405003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 856.088135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753524; longitude = -118.735053; captureRadius = 10; duration = 109; initialDepth = 856.088135; finalDepth = 856.300682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1786420000001 # Altitude Set: 50.1786420000001 # Vehicle Depth:856.088135 # Seafloor Depth:-906.266777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 120.43; MB_Bottom_Detect_Filter_Min_Depth = 25.09; MB_Bottom_Detect_Filter_Max_Depth = 120.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.973040 meters # Minimum depth: 905.895015 meters looking forward 200.000000 meters along route # Maximum depth: 906.229496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.895015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.753999; longitude = -118.734016; captureRadius = 10; duration = 109; initialDepth = 855.895015; finalDepth = 856.088135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1786420000001 # Altitude Set: 50.1786420000001 # Vehicle Depth:855.895015 # Seafloor Depth:-906.071636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 120.43; MB_Bottom_Detect_Filter_Min_Depth = 25.09; MB_Bottom_Detect_Filter_Max_Depth = 120.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.149952 meters # Minimum depth: 905.758976 meters looking forward 200.000000 meters along route # Maximum depth: 906.020286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.758976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754475; longitude = -118.732975; captureRadius = 10; duration = 109; initialDepth = 855.758976; finalDepth = 855.895015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1766210000001 # Altitude Set: 50.1766210000001 # Vehicle Depth:855.758976 # Seafloor Depth:-905.894355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 120.42; MB_Bottom_Detect_Filter_Min_Depth = 25.09; MB_Bottom_Detect_Filter_Max_Depth = 120.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.560739 meters # Minimum depth: 905.610304 meters looking forward 200.000000 meters along route # Maximum depth: 905.838428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.610304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.754948; longitude = -118.731942; captureRadius = 10; duration = 109; initialDepth = 855.610304; finalDepth = 855.758976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1353790000001 # Altitude Set: 50.1353790000001 # Vehicle Depth:855.610304 # Seafloor Depth:-905.732553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.32; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.32; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.416303 meters # Minimum depth: 905.479184 meters looking forward 200.000000 meters along route # Maximum depth: 905.718452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.479184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755423; longitude = -118.730905; captureRadius = 10; duration = 100; initialDepth = 855.479184; finalDepth = 855.610304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.122249 # Altitude Set: 50.122249 # Vehicle Depth:855.479184 # Seafloor Depth:-905.587623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.29; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.443742 meters # Minimum depth: 905.380577 meters looking forward 200.000000 meters along route # Maximum depth: 905.564942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.380577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.755858; longitude = -118.729954; captureRadius = 10; duration = 100; initialDepth = 855.380577; finalDepth = 855.479184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.108439 # Altitude Set: 50.108439 # Vehicle Depth:855.380577 # Seafloor Depth:-905.468753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.26; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.559310 meters # Minimum depth: 905.266754 meters looking forward 200.000000 meters along route # Maximum depth: 905.438009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.266754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756293; longitude = -118.729004; captureRadius = 10; duration = 109; initialDepth = 855.266754; finalDepth = 855.380577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.094883 # Altitude Set: 50.094883 # Vehicle Depth:855.266754 # Seafloor Depth:-905.361637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.23; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.558806 meters # Minimum depth: 905.166016 meters looking forward 200.000000 meters along route # Maximum depth: 905.341693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.166016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.756768; longitude = -118.727967; captureRadius = 10; duration = 109; initialDepth = 855.166016; finalDepth = 855.266754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.094883 # Altitude Set: 50.094883 # Vehicle Depth:855.166016 # Seafloor Depth:-905.257359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.23; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.558301 meters # Minimum depth: 905.095319 meters looking forward 200.000000 meters along route # Maximum depth: 905.231237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.095319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757243; longitude = -118.726929; captureRadius = 10; duration = 109; initialDepth = 855.095319; finalDepth = 855.166016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0913429999999 # Altitude Set: 50.0913429999999 # Vehicle Depth:855.095319 # Seafloor Depth:-905.165672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.22; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.22; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.557797 meters # Minimum depth: 905.020309 meters looking forward 200.000000 meters along route # Maximum depth: 905.136919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 855.020309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.757718; longitude = -118.725892; captureRadius = 10; duration = 109; initialDepth = 855.020309; finalDepth = 855.095319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.070353 # Altitude Set: 50.070353 # Vehicle Depth:855.020309 # Seafloor Depth:-905.082802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.17; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.557293 meters # Minimum depth: 904.947266 meters looking forward 200.000000 meters along route # Maximum depth: 905.057769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.947266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758192; longitude = -118.724855; captureRadius = 10; duration = 109; initialDepth = 854.947266; finalDepth = 855.020309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.062493 # Altitude Set: 50.062493 # Vehicle Depth:854.947266 # Seafloor Depth:-905.008687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.15; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.674208 meters # Minimum depth: 904.880928 meters looking forward 200.000000 meters along route # Maximum depth: 904.996094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.880928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.758667; longitude = -118.723818; captureRadius = 10; duration = 109; initialDepth = 854.880928; finalDepth = 854.947266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.061421 # Altitude Set: 50.061421 # Vehicle Depth:854.880928 # Seafloor Depth:-904.941393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.15; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.438864 meters # Minimum depth: 904.835656 meters looking forward 200.000000 meters along route # Maximum depth: 904.923828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.835656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759142; longitude = -118.722780; captureRadius = 10; duration = 109; initialDepth = 854.835656; finalDepth = 854.880928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0604649999999 # Altitude Set: 50.0604649999999 # Vehicle Depth:854.835656 # Seafloor Depth:-904.880872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.15; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.555780 meters # Minimum depth: 904.788368 meters looking forward 200.000000 meters along route # Maximum depth: 904.863207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.788368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.759617; longitude = -118.721744; captureRadius = 10; duration = 109; initialDepth = 854.788368; finalDepth = 854.835656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.045216 # Altitude Set: 50.045216 # Vehicle Depth:854.788368 # Seafloor Depth:-904.827775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.11; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.555275 meters # Minimum depth: 904.743131 meters looking forward 200.000000 meters along route # Maximum depth: 904.812012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.743131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760091; longitude = -118.720707; captureRadius = 10; duration = 109; initialDepth = 854.743131; finalDepth = 854.788368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.039407 # Altitude Set: 50.039407 # Vehicle Depth:854.743131 # Seafloor Depth:-904.780487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.228736 meters # Minimum depth: 904.703422 meters looking forward 200.000000 meters along route # Maximum depth: 904.773438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.703422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.760566; longitude = -118.719670; captureRadius = 10; duration = 110; initialDepth = 854.703422; finalDepth = 854.743131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.037356 # Altitude Set: 50.037356 # Vehicle Depth:854.703422 # Seafloor Depth:-904.739520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.880303 meters # Minimum depth: 904.676862 meters looking forward 200.000000 meters along route # Maximum depth: 904.729171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.676862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761044; longitude = -118.718626; captureRadius = 10; duration = 108; initialDepth = 854.676862; finalDepth = 854.703422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0360979999999 # Altitude Set: 50.0360979999999 # Vehicle Depth:854.676862 # Seafloor Depth:-904.703197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.553763 meters # Minimum depth: 904.648150 meters looking forward 200.000000 meters along route # Maximum depth: 904.692991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.648150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761516; longitude = -118.717595; captureRadius = 10; duration = 109; initialDepth = 854.648150; finalDepth = 854.676862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.026335 # Altitude Set: 50.026335 # Vehicle Depth:854.64815 # Seafloor Depth:-904.672194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.672603 meters # Minimum depth: 904.622355 meters looking forward 200.000000 meters along route # Maximum depth: 904.669122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.622355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.761990; longitude = -118.716558; captureRadius = 10; duration = 100; initialDepth = 854.622355; finalDepth = 854.648150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.024044 # Altitude Set: 50.024044 # Vehicle Depth:854.622355 # Seafloor Depth:-904.642951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.174652 meters # Minimum depth: 904.602677 meters looking forward 200.000000 meters along route # Maximum depth: 904.639705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.602677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762427; longitude = -118.715605; captureRadius = 10; duration = 100; initialDepth = 854.602677; finalDepth = 854.622355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0205960000001 # Altitude Set: 50.0205960000001 # Vehicle Depth:854.602677 # Seafloor Depth:-904.620144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.05; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.552335 meters # Minimum depth: 904.575924 meters looking forward 200.000000 meters along route # Maximum depth: 904.613745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.575924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.762861; longitude = -118.714657; captureRadius = 10; duration = 109; initialDepth = 854.575924; finalDepth = 854.602677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.022553 # Altitude Set: 50.022553 # Vehicle Depth:854.575924 # Seafloor Depth:-904.598477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.05; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.551830 meters # Minimum depth: 904.548809 meters looking forward 200.000000 meters along route # Maximum depth: 904.593882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.548809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763335; longitude = -118.713620; captureRadius = 10; duration = 109; initialDepth = 854.548809; finalDepth = 854.575924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.02579 # Altitude Set: 50.02579 # Vehicle Depth:854.548809 # Seafloor Depth:-904.574599 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.551327 meters # Minimum depth: 904.525289 meters looking forward 200.000000 meters along route # Maximum depth: 904.567619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.525289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.763810; longitude = -118.712583; captureRadius = 10; duration = 109; initialDepth = 854.525289; finalDepth = 854.548809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.02579 # Altitude Set: 50.02579 # Vehicle Depth:854.525289 # Seafloor Depth:-904.548768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.550822 meters # Minimum depth: 904.491645 meters looking forward 200.000000 meters along route # Maximum depth: 904.540001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.491645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764285; longitude = -118.711546; captureRadius = 10; duration = 109; initialDepth = 854.491645; finalDepth = 854.525289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0273850000001 # Altitude Set: 50.0273850000001 # Vehicle Depth:854.491645 # Seafloor Depth:-904.519030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 120.07; MB_Bottom_Detect_Filter_Min_Depth = 25.01; MB_Bottom_Detect_Filter_Max_Depth = 120.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.550318 meters # Minimum depth: 904.448307 meters looking forward 200.000000 meters along route # Maximum depth: 904.508467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.448307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.764760; longitude = -118.710509; captureRadius = 10; duration = 109; initialDepth = 854.448307; finalDepth = 854.491645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0370789999999 # Altitude Set: 50.0370789999999 # Vehicle Depth:854.448307 # Seafloor Depth:-904.485386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.929913 meters # Minimum depth: 904.392727 meters looking forward 200.000000 meters along route # Maximum depth: 904.478516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.392727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765234; longitude = -118.709471; captureRadius = 10; duration = 109; initialDepth = 854.392727; finalDepth = 854.448307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.051203 # Altitude Set: 50.051203 # Vehicle Depth:854.392727 # Seafloor Depth:-904.443930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.12; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.169211 meters # Minimum depth: 904.349153 meters looking forward 200.000000 meters along route # Maximum depth: 904.430368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.349153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.765711; longitude = -118.708431; captureRadius = 10; duration = 109; initialDepth = 854.349153; finalDepth = 854.392727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.051203 # Altitude Set: 50.051203 # Vehicle Depth:854.349153 # Seafloor Depth:-904.392537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 120.12; MB_Bottom_Detect_Filter_Min_Depth = 25.03; MB_Bottom_Detect_Filter_Max_Depth = 120.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.548807 meters # Minimum depth: 904.300278 meters looking forward 200.000000 meters along route # Maximum depth: 904.374516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.300278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766184; longitude = -118.707397; captureRadius = 10; duration = 109; initialDepth = 854.300278; finalDepth = 854.349153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0433839999999 # Altitude Set: 50.0433839999999 # Vehicle Depth:854.300278 # Seafloor Depth:-904.340561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.10; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.10; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.374217 meters # Minimum depth: 904.249034 meters looking forward 200.000000 meters along route # Maximum depth: 904.335938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.249034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.766659; longitude = -118.706360; captureRadius = 10; duration = 100; initialDepth = 854.249034; finalDepth = 854.300278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.0442569999999 # Altitude Set: 50.0442569999999 # Vehicle Depth:854.249034 # Seafloor Depth:-904.293291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.11; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.463952 meters # Minimum depth: 904.197670 meters looking forward 200.000000 meters along route # Maximum depth: 904.284351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.197670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767094; longitude = -118.705410; captureRadius = 10; duration = 100; initialDepth = 854.197670; finalDepth = 854.249034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.046471 # Altitude Set: 50.046471 # Vehicle Depth:854.19767 # Seafloor Depth:-904.244141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.11; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.547378 meters # Minimum depth: 904.114413 meters looking forward 200.000000 meters along route # Maximum depth: 904.229365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.114413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.767529; longitude = -118.704459; captureRadius = 10; duration = 109; initialDepth = 854.114413; finalDepth = 854.197670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.071634 # Altitude Set: 50.071634 # Vehicle Depth:854.114413 # Seafloor Depth:-904.186047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.17; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.546875 meters # Minimum depth: 904.002054 meters looking forward 200.000000 meters along route # Maximum depth: 904.173828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 854.002054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768004; longitude = -118.703422; captureRadius = 10; duration = 109; initialDepth = 854.002054; finalDepth = 854.114413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.1034549999999 # Altitude Set: 50.1034549999999 # Vehicle Depth:854.002054 # Seafloor Depth:-904.105509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.25; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.25; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.546370 meters # Minimum depth: 903.891191 meters looking forward 200.000000 meters along route # Maximum depth: 904.080849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 853.891191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768478; longitude = -118.702384; captureRadius = 10; duration = 109; initialDepth = 853.891191; finalDepth = 854.002054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.110371 # Altitude Set: 50.110371 # Vehicle Depth:853.891191 # Seafloor Depth:-904.001562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.26; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.545867 meters # Minimum depth: 903.726402 meters looking forward 200.000000 meters along route # Maximum depth: 903.959587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 853.726402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.768953; longitude = -118.701347; captureRadius = 10; duration = 109; initialDepth = 853.726402; finalDepth = 853.891191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.140461 # Altitude Set: 50.140461 # Vehicle Depth:853.726402 # Seafloor Depth:-903.866863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.34; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.545363 meters # Minimum depth: 903.498813 meters looking forward 200.000000 meters along route # Maximum depth: 903.813523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 853.498813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769428; longitude = -118.700310; captureRadius = 10; duration = 109; initialDepth = 853.498813; finalDepth = 853.726402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.195307 # Altitude Set: 50.195307 # Vehicle Depth:853.498813 # Seafloor Depth:-903.694120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.47; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.631119 meters # Minimum depth: 903.211060 meters looking forward 200.000000 meters along route # Maximum depth: 903.659038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 853.211060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.769903; longitude = -118.699273; captureRadius = 10; duration = 109; initialDepth = 853.211060; finalDepth = 853.498813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2664120000001 # Altitude Set: 50.2664120000001 # Vehicle Depth:853.21106 # Seafloor Depth:-903.477472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.458095 meters # Minimum depth: 902.944419 meters looking forward 200.000000 meters along route # Maximum depth: 903.409462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 852.944419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770378; longitude = -118.698235; captureRadius = 10; duration = 109; initialDepth = 852.944419; finalDepth = 853.211060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2664120000001 # Altitude Set: 50.2664120000001 # Vehicle Depth:852.944419 # Seafloor Depth:-903.210827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.543852 meters # Minimum depth: 902.567985 meters looking forward 200.000000 meters along route # Maximum depth: 903.108763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 852.567985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.770852; longitude = -118.697199; captureRadius = 10; duration = 109; initialDepth = 852.567985; finalDepth = 852.944419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.319586 # Altitude Set: 50.319586 # Vehicle Depth:852.567985 # Seafloor Depth:-902.887571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.77; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.543348 meters # Minimum depth: 902.088688 meters looking forward 200.000000 meters along route # Maximum depth: 902.765440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 852.088688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771327; longitude = -118.696162; captureRadius = 10; duration = 109; initialDepth = 852.088688; finalDepth = 852.567985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.4119549999999 # Altitude Set: 50.4119549999999 # Vehicle Depth:852.088688 # Seafloor Depth:-902.500643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 120.99; MB_Bottom_Detect_Filter_Min_Depth = 25.21; MB_Bottom_Detect_Filter_Max_Depth = 120.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.185588 meters # Minimum depth: 901.522995 meters looking forward 200.000000 meters along route # Maximum depth: 902.423568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 851.522995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.771802; longitude = -118.695125; captureRadius = 10; duration = 110; initialDepth = 851.522995; finalDepth = 852.088688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.524403 # Altitude Set: 50.524403 # Vehicle Depth:851.522995 # Seafloor Depth:-902.047398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 121.26; MB_Bottom_Detect_Filter_Min_Depth = 25.26; MB_Bottom_Detect_Filter_Max_Depth = 121.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.899596 meters # Minimum depth: 901.028418 meters looking forward 200.000000 meters along route # Maximum depth: 901.911487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 851.028418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772279; longitude = -118.694082; captureRadius = 10; duration = 108; initialDepth = 851.028418; finalDepth = 851.522995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.524403 # Altitude Set: 50.524403 # Vehicle Depth:851.028418 # Seafloor Depth:-901.519628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 121.26; MB_Bottom_Detect_Filter_Min_Depth = 25.26; MB_Bottom_Detect_Filter_Max_Depth = 121.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.541837 meters # Minimum depth: 900.361111 meters looking forward 200.000000 meters along route # Maximum depth: 901.333455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 850.361111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.772751; longitude = -118.693050; captureRadius = 10; duration = 109; initialDepth = 850.361111; finalDepth = 851.028418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.5593749999999 # Altitude Set: 50.5593749999999 # Vehicle Depth:850.361111 # Seafloor Depth:-900.920486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.34; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 121.34; MB_Bottom_Detect_Filter_Min_Depth = 25.28; MB_Bottom_Detect_Filter_Max_Depth = 121.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.541333 meters # Minimum depth: 899.546944 meters looking forward 200.000000 meters along route # Maximum depth: 900.704624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.546944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773226; longitude = -118.692013; captureRadius = 10; duration = 109; initialDepth = 849.546944; finalDepth = 850.361111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.6930219999999 # Altitude Set: 50.6930219999999 # Vehicle Depth:849.546944 # Seafloor Depth:-900.239966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.66; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 121.66; MB_Bottom_Detect_Filter_Min_Depth = 25.35; MB_Bottom_Detect_Filter_Max_Depth = 121.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.740037 meters # Minimum depth: 898.652372 meters looking forward 200.000000 meters along route # Maximum depth: 900.101292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.652372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.773701; longitude = -118.690976; captureRadius = 10; duration = 110; initialDepth = 848.652372; finalDepth = 849.546944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.82903 # Altitude Set: 50.82903 # Vehicle Depth:848.652372 # Seafloor Depth:-899.481402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.99; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.341118 meters # Minimum depth: 897.904522 meters looking forward 200.000000 meters along route # Maximum depth: 899.254179 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 847.904522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774181; longitude = -118.689928; captureRadius = 10; duration = 108; initialDepth = 847.904522; finalDepth = 848.652372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.82903 # Altitude Set: 50.82903 # Vehicle Depth:847.904522 # Seafloor Depth:-898.643049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.99; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.539822 meters # Minimum depth: 896.940583 meters looking forward 200.000000 meters along route # Maximum depth: 898.359637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 846.940583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.774650; longitude = -118.688902; captureRadius = 10; duration = 109; initialDepth = 846.940583; finalDepth = 847.904522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8074310000001 # Altitude Set: 50.8074310000001 # Vehicle Depth:846.940583 # Seafloor Depth:-897.748014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.94; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.539319 meters # Minimum depth: 895.786709 meters looking forward 200.000000 meters along route # Maximum depth: 897.433024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 845.786709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.775125; longitude = -118.687865; captureRadius = 10; duration = 109; initialDepth = 845.786709; finalDepth = 846.940583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.980943 # Altitude Set: 50.980943 # Vehicle Depth:845.786709 # Seafloor Depth:-896.767652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 122.35; MB_Bottom_Detect_Filter_Min_Depth = 25.49; MB_Bottom_Detect_Filter_Max_Depth = 122.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.294466 meters # Minimum depth: 894.555215 meters looking forward 200.000000 meters along route # Maximum depth: 896.569960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.555215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.775600; longitude = -118.686828; captureRadius = 10; duration = 111; initialDepth = 844.555215; finalDepth = 845.786709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.1486080000001 # Altitude Set: 51.1486080000001 # Vehicle Depth:844.555215 # Seafloor Depth:-895.703823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 122.76; MB_Bottom_Detect_Filter_Min_Depth = 25.57; MB_Bottom_Detect_Filter_Max_Depth = 122.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.782660 meters # Minimum depth: 893.530884 meters looking forward 200.000000 meters along route # Maximum depth: 895.384796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 843.530884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.776082; longitude = -118.685774; captureRadius = 10; duration = 107; initialDepth = 843.530884; finalDepth = 844.555215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.1486080000001 # Altitude Set: 51.1486080000001 # Vehicle Depth:843.530884 # Seafloor Depth:-894.536357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 122.76; MB_Bottom_Detect_Filter_Min_Depth = 25.57; MB_Bottom_Detect_Filter_Max_Depth = 122.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.537808 meters # Minimum depth: 892.218351 meters looking forward 200.000000 meters along route # Maximum depth: 894.150352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 842.218351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.776549; longitude = -118.684754; captureRadius = 10; duration = 109; initialDepth = 842.218351; finalDepth = 843.530884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.101636 # Altitude Set: 51.101636 # Vehicle Depth:842.218351 # Seafloor Depth:-893.319987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 122.64; MB_Bottom_Detect_Filter_Min_Depth = 25.55; MB_Bottom_Detect_Filter_Max_Depth = 122.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.537305 meters # Minimum depth: 890.688705 meters looking forward 200.000000 meters along route # Maximum depth: 892.884806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 840.688705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.777024; longitude = -118.683716; captureRadius = 10; duration = 109; initialDepth = 840.688705; finalDepth = 842.218351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.307224 # Altitude Set: 51.307224 # Vehicle Depth:840.688705 # Seafloor Depth:-891.995929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 123.14; MB_Bottom_Detect_Filter_Min_Depth = 25.65; MB_Bottom_Detect_Filter_Max_Depth = 123.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.848875 meters # Minimum depth: 889.086759 meters looking forward 200.000000 meters along route # Maximum depth: 891.721391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 839.086759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.777499; longitude = -118.682679; captureRadius = 10; duration = 111; initialDepth = 839.086759; finalDepth = 840.688705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.498702 # Altitude Set: 51.498702 # Vehicle Depth:839.086759 # Seafloor Depth:-890.585461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 123.60; MB_Bottom_Detect_Filter_Min_Depth = 25.75; MB_Bottom_Detect_Filter_Max_Depth = 123.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.224223 meters # Minimum depth: 887.900994 meters looking forward 200.000000 meters along route # Maximum depth: 891.330049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.900994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.777983; longitude = -118.681620; captureRadius = 10; duration = 107; initialDepth = 837.900994; finalDepth = 839.086759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.498702 # Altitude Set: 51.498702 # Vehicle Depth:837.900994 # Seafloor Depth:-889.053961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.60; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 123.60; MB_Bottom_Detect_Filter_Min_Depth = 25.75; MB_Bottom_Detect_Filter_Max_Depth = 123.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.535794 meters # Minimum depth: 887.900994 meters looking forward 200.000000 meters along route # Maximum depth: 904.009154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.900994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.778448; longitude = -118.680605; captureRadius = 10; duration = 109; initialDepth = 837.900994; finalDepth = 837.900994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.185839 # Altitude Set: 65.185839 # Vehicle Depth:837.900994 # Seafloor Depth:-903.086833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 156.45; MB_Bottom_Detect_Filter_Min_Depth = 32.59; MB_Bottom_Detect_Filter_Max_Depth = 156.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.535291 meters # Minimum depth: 899.589525 meters looking forward 200.000000 meters along route # Maximum depth: 904.009154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.589525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.778923; longitude = -118.679568; captureRadius = 10; duration = 109; initialDepth = 849.589525; finalDepth = 837.900994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.185839 # Altitude Set: 65.185839 # Vehicle Depth:849.589525 # Seafloor Depth:-903.948314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 156.45; MB_Bottom_Detect_Filter_Min_Depth = 32.59; MB_Bottom_Detect_Filter_Max_Depth = 156.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 112.403264 meters # Minimum depth: 898.017168 meters looking forward 200.000000 meters along route # Maximum depth: 903.225733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.017168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.779397; longitude = -118.678531; captureRadius = 10; duration = 112; initialDepth = 848.017168; finalDepth = 849.589525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.358789 # Altitude Set: 54.358789 # Vehicle Depth:848.017168 # Seafloor Depth:-899.454957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 130.46; MB_Bottom_Detect_Filter_Min_Depth = 27.18; MB_Bottom_Detect_Filter_Max_Depth = 130.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.665807 meters # Minimum depth: 898.017168 meters looking forward 200.000000 meters along route # Maximum depth: 902.575097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.017168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.779885; longitude = -118.677467; captureRadius = 10; duration = 106; initialDepth = 848.017168; finalDepth = 848.017168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.735413 # Altitude Set: 51.735413 # Vehicle Depth:848.017168 # Seafloor Depth:-899.752581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 124.16; MB_Bottom_Detect_Filter_Min_Depth = 25.87; MB_Bottom_Detect_Filter_Max_Depth = 124.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.533781 meters # Minimum depth: 899.797414 meters looking forward 200.000000 meters along route # Maximum depth: 902.575097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.797414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.780347; longitude = -118.676457; captureRadius = 10; duration = 109; initialDepth = 849.797414; finalDepth = 848.017168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.735413 # Altitude Set: 51.735413 # Vehicle Depth:849.797414 # Seafloor Depth:-900.838027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 124.16; MB_Bottom_Detect_Filter_Min_Depth = 25.87; MB_Bottom_Detect_Filter_Max_Depth = 124.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.533277 meters # Minimum depth: 899.624962 meters looking forward 200.000000 meters along route # Maximum depth: 900.441309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.624962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.780822; longitude = -118.675420; captureRadius = 10; duration = 109; initialDepth = 849.624962; finalDepth = 849.797414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.040613 # Altitude Set: 51.040613 # Vehicle Depth:849.624962 # Seafloor Depth:-899.624962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 122.50; MB_Bottom_Detect_Filter_Min_Depth = 25.52; MB_Bottom_Detect_Filter_Max_Depth = 122.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 112.957633 meters # Minimum depth: 899.567465 meters looking forward 200.000000 meters along route # Maximum depth: 900.462106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.567465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.781296; longitude = -118.674382; captureRadius = 10; duration = 112; initialDepth = 849.567465; finalDepth = 849.624962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50 # Altitude Set: 50 # Vehicle Depth:849.567465 # Seafloor Depth:-899.567465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.107412 meters # Minimum depth: 899.623385 meters looking forward 200.000000 meters along route # Maximum depth: 900.462106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.623385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.781786; longitude = -118.673313; captureRadius = 10; duration = 106; initialDepth = 849.623385; finalDepth = 849.567465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.828139 # Altitude Set: 50.828139 # Vehicle Depth:849.623385 # Seafloor Depth:-900.451524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.99; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.531767 meters # Minimum depth: 899.659829 meters looking forward 200.000000 meters along route # Maximum depth: 900.122248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.659829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782246; longitude = -118.672308; captureRadius = 10; duration = 109; initialDepth = 849.659829; finalDepth = 849.623385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.828139 # Altitude Set: 50.828139 # Vehicle Depth:849.659829 # Seafloor Depth:-900.105540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.99; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.531265 meters # Minimum depth: 899.358959 meters looking forward 200.000000 meters along route # Maximum depth: 900.122248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.358959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782721; longitude = -118.671271; captureRadius = 10; duration = 109; initialDepth = 849.358959; finalDepth = 849.659829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.4457110000001 # Altitude Set: 50.4457110000001 # Vehicle Depth:849.358959 # Seafloor Depth:-899.510900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 121.07; MB_Bottom_Detect_Filter_Min_Depth = 25.22; MB_Bottom_Detect_Filter_Max_Depth = 121.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 113.511981 meters # Minimum depth: 899.358959 meters looking forward 200.000000 meters along route # Maximum depth: 899.729911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.358959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783195; longitude = -118.670234; captureRadius = 10; duration = 113; initialDepth = 849.358959; finalDepth = 849.358959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.151941 # Altitude Set: 50.151941 # Vehicle Depth:849.358959 # Seafloor Depth:-899.510649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 120.36; MB_Bottom_Detect_Filter_Min_Depth = 25.08; MB_Bottom_Detect_Filter_Max_Depth = 120.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.267405 meters # Minimum depth: 899.063453 meters looking forward 200.000000 meters along route # Maximum depth: 900.185924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.063453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783687; longitude = -118.669159; captureRadius = 10; duration = 106; initialDepth = 849.063453; finalDepth = 849.358959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.715225 # Altitude Set: 50.715225 # Vehicle Depth:849.063453 # Seafloor Depth:-899.778678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 121.72; MB_Bottom_Detect_Filter_Min_Depth = 25.36; MB_Bottom_Detect_Filter_Max_Depth = 121.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 9.292216 meters # Minimum depth: 898.960007 meters looking forward 200.000000 meters along route # Maximum depth: 900.185924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.960007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784148; longitude = -118.668153; captureRadius = 10; duration = 9; initialDepth = 848.960007; finalDepth = 849.063453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.715225 # Altitude Set: 50.715225 # Vehicle Depth:848.960007 # Seafloor Depth:-898.960007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 121.72; MB_Bottom_Detect_Filter_Min_Depth = 25.36; MB_Bottom_Detect_Filter_Max_Depth = 121.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 110.850610 meters # Minimum depth: 894.101177 meters looking forward 200.000000 meters along route # Maximum depth: 900.185924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.101177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784206; longitude = -118.668081; captureRadius = 10; duration = 110; initialDepth = 844.101177; finalDepth = 848.960007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.6564 # Altitude Set: 54.6564 # Vehicle Depth:844.101177 # Seafloor Depth:-898.757577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.18; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 131.18; MB_Bottom_Detect_Filter_Min_Depth = 27.33; MB_Bottom_Detect_Filter_Max_Depth = 131.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.587613 meters # Minimum depth: 888.525510 meters looking forward 200.000000 meters along route # Maximum depth: 897.294170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 838.525510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784897; longitude = -118.667216; captureRadius = 10; duration = 101; initialDepth = 838.525510; finalDepth = 844.101177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.1842079999999 # Altitude Set: 55.1842079999999 # Vehicle Depth:838.52551 # Seafloor Depth:-893.709718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.59; MB_Bottom_Detect_Filter_Max_Range = 132.44; MB_Bottom_Detect_Filter_Min_Depth = 27.59; MB_Bottom_Detect_Filter_Max_Depth = 132.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 36.910851 meters # Minimum depth: 887.787645 meters looking forward 200.000000 meters along route # Maximum depth: 895.642725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.787645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785531; longitude = -118.666424; captureRadius = 10; duration = 36; initialDepth = 837.787645; finalDepth = 838.525510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.1842079999999 # Altitude Set: 55.1842079999999 # Vehicle Depth:837.787645 # Seafloor Depth:-888.708893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.44; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.59; MB_Bottom_Detect_Filter_Max_Range = 132.44; MB_Bottom_Detect_Filter_Min_Depth = 27.59; MB_Bottom_Detect_Filter_Max_Depth = 132.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.447574 meters # Minimum depth: 883.483102 meters looking forward 200.000000 meters along route # Maximum depth: 890.785844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.483102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785686; longitude = -118.666777; captureRadius = 10; duration = 108; initialDepth = 833.483102; finalDepth = 837.787645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.695912 # Altitude Set: 53.695912 # Vehicle Depth:833.483102 # Seafloor Depth:-887.179014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 128.87; MB_Bottom_Detect_Filter_Min_Depth = 26.85; MB_Bottom_Detect_Filter_Max_Depth = 128.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 116.107325 meters # Minimum depth: 880.932060 meters looking forward 200.000000 meters along route # Maximum depth: 886.342524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.932060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786140; longitude = -118.667814; captureRadius = 10; duration = 116; initialDepth = 830.932060; finalDepth = 833.483102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.695912 # Altitude Set: 53.695912 # Vehicle Depth:830.93206 # Seafloor Depth:-883.247043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 128.87; MB_Bottom_Detect_Filter_Min_Depth = 26.85; MB_Bottom_Detect_Filter_Max_Depth = 128.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.786601 meters # Minimum depth: 879.930754 meters looking forward 200.000000 meters along route # Maximum depth: 882.784237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 829.930754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786626; longitude = -118.668924; captureRadius = 10; duration = 100; initialDepth = 829.930754; finalDepth = 830.932060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.314983 # Altitude Set: 52.314983 # Vehicle Depth:829.930754 # Seafloor Depth:-880.768430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 125.56; MB_Bottom_Detect_Filter_Min_Depth = 26.16; MB_Bottom_Detect_Filter_Max_Depth = 125.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.446351 meters # Minimum depth: 879.930754 meters looking forward 200.000000 meters along route # Maximum depth: 880.524671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 829.930754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787048; longitude = -118.669888; captureRadius = 10; duration = 108; initialDepth = 829.930754; finalDepth = 829.930754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.837676 # Altitude Set: 50.837676 # Vehicle Depth:829.930754 # Seafloor Depth:-880.354892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 122.01; MB_Bottom_Detect_Filter_Min_Depth = 25.42; MB_Bottom_Detect_Filter_Max_Depth = 122.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.445942 meters # Minimum depth: 880.235470 meters looking forward 200.000000 meters along route # Maximum depth: 881.378206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.235470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787502; longitude = -118.670925; captureRadius = 10; duration = 108; initialDepth = 830.235470; finalDepth = 829.930754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.424138 # Altitude Set: 50.424138 # Vehicle Depth:830.23547 # Seafloor Depth:-880.421083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 121.02; MB_Bottom_Detect_Filter_Min_Depth = 25.21; MB_Bottom_Detect_Filter_Max_Depth = 121.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.445535 meters # Minimum depth: 880.463917 meters looking forward 200.000000 meters along route # Maximum depth: 882.292526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.463917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787956; longitude = -118.671963; captureRadius = 10; duration = 108; initialDepth = 830.463917; finalDepth = 830.235470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.205505 # Altitude Set: 51.205505 # Vehicle Depth:830.463917 # Seafloor Depth:-881.669422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 122.89; MB_Bottom_Detect_Filter_Min_Depth = 25.60; MB_Bottom_Detect_Filter_Max_Depth = 122.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.484521 meters # Minimum depth: 881.740902 meters looking forward 200.000000 meters along route # Maximum depth: 885.283480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 831.740902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788410; longitude = -118.673000; captureRadius = 10; duration = 110; initialDepth = 831.740902; finalDepth = 830.463917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.205505 # Altitude Set: 51.205505 # Vehicle Depth:831.740902 # Seafloor Depth:-882.579860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 122.89; MB_Bottom_Detect_Filter_Min_Depth = 25.60; MB_Bottom_Detect_Filter_Max_Depth = 122.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.405326 meters # Minimum depth: 882.901144 meters looking forward 200.000000 meters along route # Maximum depth: 887.202409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 832.901144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788873; longitude = -118.674056; captureRadius = 10; duration = 106; initialDepth = 832.901144; finalDepth = 831.740902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.443044 # Altitude Set: 52.443044 # Vehicle Depth:832.901144 # Seafloor Depth:-885.344188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 125.86; MB_Bottom_Detect_Filter_Min_Depth = 26.22; MB_Bottom_Detect_Filter_Max_Depth = 125.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 113.778163 meters # Minimum depth: 885.979085 meters looking forward 200.000000 meters along route # Maximum depth: 892.477628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 835.979085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789319; longitude = -118.675074; captureRadius = 10; duration = 113; initialDepth = 835.979085; finalDepth = 832.901144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.443044 # Altitude Set: 52.443044 # Vehicle Depth:835.979085 # Seafloor Depth:-888.208730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 125.86; MB_Bottom_Detect_Filter_Min_Depth = 26.22; MB_Bottom_Detect_Filter_Max_Depth = 125.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 39.610572 meters # Minimum depth: 886.377300 meters looking forward 200.000000 meters along route # Maximum depth: 894.268974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 836.377300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789795; longitude = -118.676162; captureRadius = 10; duration = 39; initialDepth = 836.377300; finalDepth = 835.979085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.543446 # Altitude Set: 56.543446 # Vehicle Depth:836.3773 # Seafloor Depth:-892.920746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 135.70; MB_Bottom_Detect_Filter_Min_Depth = 28.27; MB_Bottom_Detect_Filter_Max_Depth = 135.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 110.350955 meters # Minimum depth: 891.076789 meters looking forward 200.000000 meters along route # Maximum depth: 895.589643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 841.076789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790099; longitude = -118.675938; captureRadius = 10; duration = 110; initialDepth = 841.076789; finalDepth = 836.377300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.543446 # Altitude Set: 56.543446 # Vehicle Depth:841.076789 # Seafloor Depth:-894.301119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.70; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 135.70; MB_Bottom_Detect_Filter_Min_Depth = 28.27; MB_Bottom_Detect_Filter_Max_Depth = 135.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.010507 meters # Minimum depth: 894.565524 meters looking forward 200.000000 meters along route # Maximum depth: 895.700027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.565524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790947; longitude = -118.675314; captureRadius = 10; duration = 105; initialDepth = 844.565524; finalDepth = 841.076789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.22433 # Altitude Set: 53.22433 # Vehicle Depth:844.565524 # Seafloor Depth:-895.700027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 127.74; MB_Bottom_Detect_Filter_Min_Depth = 26.61; MB_Bottom_Detect_Filter_Max_Depth = 127.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 35.547616 meters # Minimum depth: 894.565524 meters looking forward 200.000000 meters along route # Maximum depth: 895.700027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.565524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791754; longitude = -118.674721; captureRadius = 10; duration = 35; initialDepth = 844.565524; finalDepth = 844.565524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.134503 # Altitude Set: 51.134503 # Vehicle Depth:844.565524 # Seafloor Depth:-894.726410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 122.72; MB_Bottom_Detect_Filter_Min_Depth = 25.57; MB_Bottom_Detect_Filter_Max_Depth = 122.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 113.569273 meters # Minimum depth: 893.154241 meters looking forward 200.000000 meters along route # Maximum depth: 894.916507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 843.154241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791603; longitude = -118.674382; captureRadius = 10; duration = 113; initialDepth = 843.154241; finalDepth = 844.565524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.5189250000001 # Altitude Set: 51.5189250000001 # Vehicle Depth:843.154241 # Seafloor Depth:-894.673166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 123.65; MB_Bottom_Detect_Filter_Min_Depth = 25.76; MB_Bottom_Detect_Filter_Max_Depth = 123.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.237394 meters # Minimum depth: 890.538685 meters looking forward 200.000000 meters along route # Maximum depth: 894.578333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 840.538685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791120; longitude = -118.673301; captureRadius = 10; duration = 104; initialDepth = 840.538685; finalDepth = 843.154241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.436715 # Altitude Set: 52.436715 # Vehicle Depth:840.538685 # Seafloor Depth:-892.975400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.85; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 125.85; MB_Bottom_Detect_Filter_Min_Depth = 26.22; MB_Bottom_Detect_Filter_Max_Depth = 125.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.903955 meters # Minimum depth: 886.077342 meters looking forward 200.000000 meters along route # Maximum depth: 892.499449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 836.077342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790677; longitude = -118.672308; captureRadius = 10; duration = 108; initialDepth = 836.077342; finalDepth = 840.538685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.7117159999999 # Altitude Set: 53.7117159999999 # Vehicle Depth:836.077342 # Seafloor Depth:-889.789058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 128.91; MB_Bottom_Detect_Filter_Min_Depth = 26.86; MB_Bottom_Detect_Filter_Max_Depth = 128.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.117164 meters # Minimum depth: 881.997538 meters looking forward 200.000000 meters along route # Maximum depth: 888.365973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 831.997538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790214; longitude = -118.671271; captureRadius = 10; duration = 112; initialDepth = 831.997538; finalDepth = 836.077342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.734717 # Altitude Set: 53.734717 # Vehicle Depth:831.997538 # Seafloor Depth:-885.732255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 128.96; MB_Bottom_Detect_Filter_Min_Depth = 26.87; MB_Bottom_Detect_Filter_Max_Depth = 128.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 105.691990 meters # Minimum depth: 878.238650 meters looking forward 200.000000 meters along route # Maximum depth: 885.235128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.238650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789737; longitude = -118.670203; captureRadius = 10; duration = 105; initialDepth = 828.238650; finalDepth = 831.997538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.734717 # Altitude Set: 53.734717 # Vehicle Depth:828.23865 # Seafloor Depth:-881.806190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 128.96; MB_Bottom_Detect_Filter_Min_Depth = 26.87; MB_Bottom_Detect_Filter_Max_Depth = 128.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.905199 meters # Minimum depth: 866.261395 meters looking forward 200.000000 meters along route # Maximum depth: 881.044087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 816.261395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789288; longitude = -118.669197; captureRadius = 10; duration = 108; initialDepth = 816.261395; finalDepth = 828.238650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.0911590000001 # Altitude Set: 61.0911590000001 # Vehicle Depth:816.261395 # Seafloor Depth:-877.352554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 146.62; MB_Bottom_Detect_Filter_Min_Depth = 30.55; MB_Bottom_Detect_Filter_Max_Depth = 146.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 110.665022 meters # Minimum depth: 865.829589 meters looking forward 200.000000 meters along route # Maximum depth: 876.295962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 815.829589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788825; longitude = -118.668160; captureRadius = 10; duration = 110; initialDepth = 815.829589; finalDepth = 816.261395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.0911590000001 # Altitude Set: 61.0911590000001 # Vehicle Depth:815.829589 # Seafloor Depth:-865.829589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.62; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 146.62; MB_Bottom_Detect_Filter_Min_Depth = 30.55; MB_Bottom_Detect_Filter_Max_Depth = 146.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 107.146619 meters # Minimum depth: 866.201066 meters looking forward 200.000000 meters along route # Maximum depth: 879.019238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 816.201066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788354; longitude = -118.667106; captureRadius = 10; duration = 107; initialDepth = 816.201066; finalDepth = 815.829589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.178791 # Altitude Set: 60.178791 # Vehicle Depth:816.201066 # Seafloor Depth:-876.379857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 144.43; MB_Bottom_Detect_Filter_Min_Depth = 30.09; MB_Bottom_Detect_Filter_Max_Depth = 144.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.585629 meters # Minimum depth: 877.700505 meters looking forward 200.000000 meters along route # Maximum depth: 882.823985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 827.700505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787899; longitude = -118.666086; captureRadius = 10; duration = 109; initialDepth = 827.700505; finalDepth = 816.201066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.178791 # Altitude Set: 60.178791 # Vehicle Depth:827.700505 # Seafloor Depth:-879.438365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 144.43; MB_Bottom_Detect_Filter_Min_Depth = 30.09; MB_Bottom_Detect_Filter_Max_Depth = 144.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 30.827839 meters # Minimum depth: 878.285396 meters looking forward 200.000000 meters along route # Maximum depth: 882.840637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.285396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787433; longitude = -118.665042; captureRadius = 10; duration = 30; initialDepth = 828.285396; finalDepth = 827.700505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.555241 # Altitude Set: 54.555241 # Vehicle Depth:828.285396 # Seafloor Depth:-882.840637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 130.93; MB_Bottom_Detect_Filter_Min_Depth = 27.28; MB_Bottom_Detect_Filter_Max_Depth = 130.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 115.841946 meters # Minimum depth: 874.715343 meters looking forward 200.000000 meters along route # Maximum depth: 882.840637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 824.715343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787663; longitude = -118.664855; captureRadius = 10; duration = 115; initialDepth = 824.715343; finalDepth = 828.285396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.3876180000001 # Altitude Set: 56.3876180000001 # Vehicle Depth:824.715343 # Seafloor Depth:-881.102961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 135.33; MB_Bottom_Detect_Filter_Min_Depth = 28.19; MB_Bottom_Detect_Filter_Max_Depth = 135.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.358443 meters # Minimum depth: 873.066835 meters looking forward 200.000000 meters along route # Maximum depth: 879.593041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.066835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788527; longitude = -118.664153; captureRadius = 10; duration = 100; initialDepth = 823.066835; finalDepth = 824.715343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.3876180000001 # Altitude Set: 56.3876180000001 # Vehicle Depth:823.066835 # Seafloor Depth:-874.514587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.33; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 135.33; MB_Bottom_Detect_Filter_Min_Depth = 28.19; MB_Bottom_Detect_Filter_Max_Depth = 135.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 31.137933 meters # Minimum depth: 872.707001 meters looking forward 200.000000 meters along route # Maximum depth: 877.614820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 822.707001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789276; longitude = -118.663544; captureRadius = 10; duration = 31; initialDepth = 822.707001; finalDepth = 823.066835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.447752 # Altitude Set: 51.447752 # Vehicle Depth:822.707001 # Seafloor Depth:-872.917755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.47; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 123.47; MB_Bottom_Detect_Filter_Min_Depth = 25.72; MB_Bottom_Detect_Filter_Max_Depth = 123.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 114.576482 meters # Minimum depth: 872.707001 meters looking forward 200.000000 meters along route # Maximum depth: 874.299692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 822.707001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789411; longitude = -118.663839; captureRadius = 10; duration = 114; initialDepth = 822.707001; finalDepth = 822.707001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.2107540000001 # Altitude Set: 50.2107540000001 # Vehicle Depth:822.707001 # Seafloor Depth:-872.712954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.51; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 120.51; MB_Bottom_Detect_Filter_Min_Depth = 25.11; MB_Bottom_Detect_Filter_Max_Depth = 120.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.729883 meters # Minimum depth: 873.048105 meters looking forward 200.000000 meters along route # Maximum depth: 874.957389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.048105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789910; longitude = -118.664922; captureRadius = 10; duration = 104; initialDepth = 823.048105; finalDepth = 822.707001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.359764 # Altitude Set: 51.359764 # Vehicle Depth:823.048105 # Seafloor Depth:-874.407869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 123.26; MB_Bottom_Detect_Filter_Min_Depth = 25.68; MB_Bottom_Detect_Filter_Max_Depth = 123.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.652545 meters # Minimum depth: 874.672385 meters looking forward 200.000000 meters along route # Maximum depth: 877.285894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 824.672385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790366; longitude = -118.665913; captureRadius = 10; duration = 109; initialDepth = 824.672385; finalDepth = 823.048105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.359764 # Altitude Set: 51.359764 # Vehicle Depth:824.672385 # Seafloor Depth:-875.187162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.26; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 123.26; MB_Bottom_Detect_Filter_Min_Depth = 25.68; MB_Bottom_Detect_Filter_Max_Depth = 123.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.652120 meters # Minimum depth: 875.959199 meters looking forward 200.000000 meters along route # Maximum depth: 881.851191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 825.959199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790843; longitude = -118.666950; captureRadius = 10; duration = 109; initialDepth = 825.959199; finalDepth = 824.672385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.816413 # Altitude Set: 51.816413 # Vehicle Depth:825.959199 # Seafloor Depth:-877.775612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 124.36; MB_Bottom_Detect_Filter_Min_Depth = 25.91; MB_Bottom_Detect_Filter_Max_Depth = 124.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 112.910813 meters # Minimum depth: 878.733950 meters looking forward 200.000000 meters along route # Maximum depth: 884.977269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.733950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791320; longitude = -118.667987; captureRadius = 10; duration = 112; initialDepth = 828.733950; finalDepth = 825.959199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.3394159999999 # Altitude Set: 53.3394159999999 # Vehicle Depth:828.73395 # Seafloor Depth:-882.073366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 128.01; MB_Bottom_Detect_Filter_Min_Depth = 26.67; MB_Bottom_Detect_Filter_Max_Depth = 128.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.392153 meters # Minimum depth: 882.942932 meters looking forward 200.000000 meters along route # Maximum depth: 888.685210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 832.942932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791811; longitude = -118.669055; captureRadius = 10; duration = 106; initialDepth = 832.942932; finalDepth = 828.733950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.3394159999999 # Altitude Set: 53.3394159999999 # Vehicle Depth:832.942932 # Seafloor Depth:-885.077746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 128.01; MB_Bottom_Detect_Filter_Min_Depth = 26.67; MB_Bottom_Detect_Filter_Max_Depth = 128.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.650845 meters # Minimum depth: 886.279771 meters looking forward 200.000000 meters along route # Maximum depth: 890.575278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 836.279771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792274; longitude = -118.670061; captureRadius = 10; duration = 109; initialDepth = 836.279771; finalDepth = 832.942932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.94161 # Altitude Set: 52.94161 # Vehicle Depth:836.279771 # Seafloor Depth:-889.221381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 127.06; MB_Bottom_Detect_Filter_Min_Depth = 26.47; MB_Bottom_Detect_Filter_Max_Depth = 127.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 115.000636 meters # Minimum depth: 889.972146 meters looking forward 200.000000 meters along route # Maximum depth: 893.634861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 839.972146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792752; longitude = -118.671098; captureRadius = 10; duration = 115; initialDepth = 839.972146; finalDepth = 836.279771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.94161 # Altitude Set: 52.94161 # Vehicle Depth:839.972146 # Seafloor Depth:-891.092501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 127.06; MB_Bottom_Detect_Filter_Min_Depth = 26.47; MB_Bottom_Detect_Filter_Max_Depth = 127.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 54.711401 meters # Minimum depth: 890.558274 meters looking forward 200.000000 meters along route # Maximum depth: 893.923845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 840.558274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793252; longitude = -118.672186; captureRadius = 10; duration = 54; initialDepth = 840.558274; finalDepth = 839.972146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.188369 # Altitude Set: 53.188369 # Vehicle Depth:840.558274 # Seafloor Depth:-893.746643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 127.65; MB_Bottom_Detect_Filter_Min_Depth = 26.59; MB_Bottom_Detect_Filter_Max_Depth = 127.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.577814 meters # Minimum depth: 893.200501 meters looking forward 200.000000 meters along route # Maximum depth: 894.036998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 843.200501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792825; longitude = -118.672481; captureRadius = 10; duration = 107; initialDepth = 843.200501; finalDepth = 840.558274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.188369 # Altitude Set: 53.188369 # Vehicle Depth:843.200501 # Seafloor Depth:-893.951596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 127.65; MB_Bottom_Detect_Filter_Min_Depth = 26.59; MB_Bottom_Detect_Filter_Max_Depth = 127.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 116.749918 meters # Minimum depth: 893.677663 meters looking forward 200.000000 meters along route # Maximum depth: 894.157240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 843.677663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791984; longitude = -118.673061; captureRadius = 10; duration = 116; initialDepth = 843.677663; finalDepth = 843.200501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.751095 # Altitude Set: 50.751095 # Vehicle Depth:843.677663 # Seafloor Depth:-893.696723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 121.80; MB_Bottom_Detect_Filter_Min_Depth = 25.38; MB_Bottom_Detect_Filter_Max_Depth = 121.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.532597 meters # Minimum depth: 892.233548 meters looking forward 200.000000 meters along route # Maximum depth: 894.157240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 842.233548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791072; longitude = -118.673691; captureRadius = 10; duration = 104; initialDepth = 842.233548; finalDepth = 843.677663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.536666 # Altitude Set: 51.536666 # Vehicle Depth:842.233548 # Seafloor Depth:-893.770214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.69; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 123.69; MB_Bottom_Detect_Filter_Min_Depth = 25.77; MB_Bottom_Detect_Filter_Max_Depth = 123.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 119.796325 meters # Minimum depth: 887.682002 meters looking forward 200.000000 meters along route # Maximum depth: 893.345593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.682002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790256; longitude = -118.674255; captureRadius = 10; duration = 119; initialDepth = 837.682002; finalDepth = 842.233548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.334161 # Altitude Set: 54.334161 # Vehicle Depth:837.682002 # Seafloor Depth:-892.016163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 130.40; MB_Bottom_Detect_Filter_Min_Depth = 27.17; MB_Bottom_Detect_Filter_Max_Depth = 130.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.487348 meters # Minimum depth: 887.371511 meters looking forward 200.000000 meters along route # Maximum depth: 891.218667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.371511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789320; longitude = -118.674901; captureRadius = 10; duration = 101; initialDepth = 837.371511; finalDepth = 837.682002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.334161 # Altitude Set: 54.334161 # Vehicle Depth:837.371511 # Seafloor Depth:-887.537655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.40; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 130.40; MB_Bottom_Detect_Filter_Min_Depth = 27.17; MB_Bottom_Detect_Filter_Max_Depth = 130.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.642271 meters # Minimum depth: 887.371511 meters looking forward 200.000000 meters along route # Maximum depth: 890.578627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 837.371511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788527; longitude = -118.675448; captureRadius = 10; duration = 110; initialDepth = 837.371511; finalDepth = 837.371511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.7391749999999 # Altitude Set: 50.7391749999999 # Vehicle Depth:837.371511 # Seafloor Depth:-888.110686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.77; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 121.77; MB_Bottom_Detect_Filter_Min_Depth = 25.37; MB_Bottom_Detect_Filter_Max_Depth = 121.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.642562 meters # Minimum depth: 888.146718 meters looking forward 200.000000 meters along route # Maximum depth: 898.346481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 838.146718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787663; longitude = -118.676045; captureRadius = 10; duration = 110; initialDepth = 838.146718; finalDepth = 837.371511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.433581 # Altitude Set: 53.433581 # Vehicle Depth:838.146718 # Seafloor Depth:-891.580299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.24; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 128.24; MB_Bottom_Detect_Filter_Min_Depth = 26.72; MB_Bottom_Detect_Filter_Max_Depth = 128.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.278738 meters # Minimum depth: 892.805984 meters looking forward 200.000000 meters along route # Maximum depth: 899.961286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 842.805984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786799; longitude = -118.676642; captureRadius = 10; duration = 103; initialDepth = 842.805984; finalDepth = 838.146718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.677957 # Altitude Set: 55.677957 # Vehicle Depth:842.805984 # Seafloor Depth:-898.483941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 133.63; MB_Bottom_Detect_Filter_Min_Depth = 27.84; MB_Bottom_Detect_Filter_Max_Depth = 133.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 24.151686 meters # Minimum depth: 894.089244 meters looking forward 200.000000 meters along route # Maximum depth: 899.961286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.089244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785992; longitude = -118.677199; captureRadius = 10; duration = 24; initialDepth = 844.089244; finalDepth = 842.805984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.763509 # Altitude Set: 55.763509 # Vehicle Depth:844.089244 # Seafloor Depth:-899.852753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 133.83; MB_Bottom_Detect_Filter_Min_Depth = 27.88; MB_Bottom_Detect_Filter_Max_Depth = 133.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 112.716467 meters # Minimum depth: 899.420968 meters looking forward 200.000000 meters along route # Maximum depth: 899.961286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.420968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785880; longitude = -118.676975; captureRadius = 10; duration = 112; initialDepth = 849.420968; finalDepth = 844.089244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.763509 # Altitude Set: 55.763509 # Vehicle Depth:849.420968 # Seafloor Depth:-899.548393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.83; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 133.83; MB_Bottom_Detect_Filter_Min_Depth = 27.88; MB_Bottom_Detect_Filter_Max_Depth = 133.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 61.727530 meters # Minimum depth: 899.476292 meters looking forward 200.000000 meters along route # Maximum depth: 899.907422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.476292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785358; longitude = -118.675931; captureRadius = 10; duration = 61; initialDepth = 849.476292; finalDepth = 849.420968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.127425 # Altitude Set: 50.127425 # Vehicle Depth:849.476292 # Seafloor Depth:-899.522446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 120.31; MB_Bottom_Detect_Filter_Min_Depth = 25.06; MB_Bottom_Detect_Filter_Max_Depth = 120.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.515841 meters # Minimum depth: 897.077012 meters looking forward 200.000000 meters along route # Maximum depth: 899.860056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 847.077012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785837; longitude = -118.675592; captureRadius = 10; duration = 101; initialDepth = 847.077012; finalDepth = 849.476292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.5472150000001 # Altitude Set: 52.5472150000001 # Vehicle Depth:847.077012 # Seafloor Depth:-899.624227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 126.11; MB_Bottom_Detect_Filter_Min_Depth = 26.27; MB_Bottom_Detect_Filter_Max_Depth = 126.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 119.084350 meters # Minimum depth: 889.682746 meters looking forward 200.000000 meters along route # Maximum depth: 899.388248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 839.682746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786626; longitude = -118.675036; captureRadius = 10; duration = 119; initialDepth = 839.682746; finalDepth = 847.077012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.889708 # Altitude Set: 56.889708 # Vehicle Depth:839.682746 # Seafloor Depth:-896.572454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 136.54; MB_Bottom_Detect_Filter_Min_Depth = 28.44; MB_Bottom_Detect_Filter_Max_Depth = 136.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.465807 meters # Minimum depth: 885.340865 meters looking forward 200.000000 meters along route # Maximum depth: 894.614976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 835.340865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787551; longitude = -118.674382; captureRadius = 10; duration = 103; initialDepth = 835.340865; finalDepth = 839.682746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.889708 # Altitude Set: 56.889708 # Vehicle Depth:835.340865 # Seafloor Depth:-889.277363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 136.54; MB_Bottom_Detect_Filter_Min_Depth = 28.44; MB_Bottom_Detect_Filter_Max_Depth = 136.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.133199 meters # Minimum depth: 883.940371 meters looking forward 200.000000 meters along route # Maximum depth: 887.578173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.940371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788354; longitude = -118.673815; captureRadius = 10; duration = 117; initialDepth = 833.940371; finalDepth = 835.340865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.936498 # Altitude Set: 53.936498 # Vehicle Depth:833.940371 # Seafloor Depth:-885.134794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 129.45; MB_Bottom_Detect_Filter_Min_Depth = 26.97; MB_Bottom_Detect_Filter_Max_Depth = 129.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.415752 meters # Minimum depth: 883.940371 meters looking forward 200.000000 meters along route # Maximum depth: 887.815918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.940371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789264; longitude = -118.673173; captureRadius = 10; duration = 105; initialDepth = 833.940371; finalDepth = 833.940371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.194423 # Altitude Set: 51.194423 # Vehicle Depth:833.940371 # Seafloor Depth:-884.853666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.87; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 122.87; MB_Bottom_Detect_Filter_Min_Depth = 25.60; MB_Bottom_Detect_Filter_Max_Depth = 122.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 115.182068 meters # Minimum depth: 885.783915 meters looking forward 200.000000 meters along route # Maximum depth: 889.854235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 835.783915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790083; longitude = -118.672594; captureRadius = 10; duration = 115; initialDepth = 835.783915; finalDepth = 833.940371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.478509 # Altitude Set: 52.478509 # Vehicle Depth:835.783915 # Seafloor Depth:-888.262424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 125.95; MB_Bottom_Detect_Filter_Min_Depth = 26.24; MB_Bottom_Detect_Filter_Max_Depth = 125.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.365677 meters # Minimum depth: 889.310467 meters looking forward 200.000000 meters along route # Maximum depth: 891.229631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 839.310467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790978; longitude = -118.671963; captureRadius = 10; duration = 107; initialDepth = 839.310467; finalDepth = 835.783915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.478509 # Altitude Set: 52.478509 # Vehicle Depth:839.310467 # Seafloor Depth:-889.913129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 125.95; MB_Bottom_Detect_Filter_Min_Depth = 26.24; MB_Bottom_Detect_Filter_Max_Depth = 125.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 113.230959 meters # Minimum depth: 890.105361 meters looking forward 200.000000 meters along route # Maximum depth: 892.245582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 840.105361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791811; longitude = -118.671374; captureRadius = 10; duration = 113; initialDepth = 840.105361; finalDepth = 839.310467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.297423 # Altitude Set: 51.297423 # Vehicle Depth:840.105361 # Seafloor Depth:-891.402784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 123.11; MB_Bottom_Detect_Filter_Min_Depth = 25.65; MB_Bottom_Detect_Filter_Max_Depth = 123.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.788112 meters # Minimum depth: 889.035703 meters looking forward 200.000000 meters along route # Maximum depth: 892.245582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 839.035703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792691; longitude = -118.670753; captureRadius = 10; duration = 116; initialDepth = 839.035703; finalDepth = 840.105361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.297423 # Altitude Set: 51.297423 # Vehicle Depth:839.035703 # Seafloor Depth:-890.071615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 123.11; MB_Bottom_Detect_Filter_Min_Depth = 25.65; MB_Bottom_Detect_Filter_Max_Depth = 123.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 60.120635 meters # Minimum depth: 886.738877 meters looking forward 200.000000 meters along route # Maximum depth: 890.105361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 836.738877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793598; longitude = -118.670112; captureRadius = 10; duration = 60; initialDepth = 836.738877; finalDepth = 839.035703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.447997 # Altitude Set: 52.447997 # Vehicle Depth:836.738877 # Seafloor Depth:-889.186874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.88; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 125.88; MB_Bottom_Detect_Filter_Min_Depth = 26.22; MB_Bottom_Detect_Filter_Max_Depth = 125.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.963811 meters # Minimum depth: 883.724363 meters looking forward 200.000000 meters along route # Maximum depth: 889.294746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.724363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793367; longitude = -118.669525; captureRadius = 10; duration = 104; initialDepth = 833.724363; finalDepth = 836.738877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.933645 # Altitude Set: 52.933645 # Vehicle Depth:833.724363 # Seafloor Depth:-886.658008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 127.04; MB_Bottom_Detect_Filter_Min_Depth = 26.47; MB_Bottom_Detect_Filter_Max_Depth = 127.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 91.928670 meters # Minimum depth: 883.482941 meters looking forward 200.000000 meters along route # Maximum depth: 886.738877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.482941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792964; longitude = -118.668499; captureRadius = 10; duration = 91; initialDepth = 833.482941; finalDepth = 833.724363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.933645 # Altitude Set: 52.933645 # Vehicle Depth:833.482941 # Seafloor Depth:-883.482941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 127.04; MB_Bottom_Detect_Filter_Min_Depth = 26.47; MB_Bottom_Detect_Filter_Max_Depth = 127.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.864529 meters # Minimum depth: 883.482941 meters looking forward 200.000000 meters along route # Maximum depth: 886.609473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.482941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792261; longitude = -118.669024; captureRadius = 10; duration = 103; initialDepth = 833.482941; finalDepth = 833.482941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.651061 # Altitude Set: 51.651061 # Vehicle Depth:833.482941 # Seafloor Depth:-885.134002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 123.96; MB_Bottom_Detect_Filter_Min_Depth = 25.83; MB_Bottom_Detect_Filter_Max_Depth = 123.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.942061 meters # Minimum depth: 885.600668 meters looking forward 200.000000 meters along route # Maximum depth: 886.701969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 835.600668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791466; longitude = -118.669617; captureRadius = 10; duration = 112; initialDepth = 835.600668; finalDepth = 833.482941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.651061 # Altitude Set: 51.651061 # Vehicle Depth:835.600668 # Seafloor Depth:-886.669801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 123.96; MB_Bottom_Detect_Filter_Min_Depth = 25.83; MB_Bottom_Detect_Filter_Max_Depth = 123.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 116.090514 meters # Minimum depth: 883.024165 meters looking forward 200.000000 meters along route # Maximum depth: 886.516262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 833.024165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790601; longitude = -118.670262; captureRadius = 10; duration = 116; initialDepth = 833.024165; finalDepth = 835.600668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.537706 # Altitude Set: 52.537706 # Vehicle Depth:833.024165 # Seafloor Depth:-885.561871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 26.27; MB_Bottom_Detect_Filter_Max_Depth = 126.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.794607 meters # Minimum depth: 880.746293 meters looking forward 200.000000 meters along route # Maximum depth: 885.298299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.746293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789713; longitude = -118.670925; captureRadius = 10; duration = 109; initialDepth = 830.746293; finalDepth = 833.024165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.537706 # Altitude Set: 52.537706 # Vehicle Depth:830.746293 # Seafloor Depth:-882.891808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.09; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 126.09; MB_Bottom_Detect_Filter_Min_Depth = 26.27; MB_Bottom_Detect_Filter_Max_Depth = 126.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.050508 meters # Minimum depth: 880.576554 meters looking forward 200.000000 meters along route # Maximum depth: 882.158140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.576554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788873; longitude = -118.671553; captureRadius = 10; duration = 102; initialDepth = 830.576554; finalDepth = 830.746293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.1455149999999 # Altitude Set: 52.1455149999999 # Vehicle Depth:830.576554 # Seafloor Depth:-880.576554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 125.15; MB_Bottom_Detect_Filter_Min_Depth = 26.07; MB_Bottom_Detect_Filter_Max_Depth = 125.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.247238 meters # Minimum depth: 880.577327 meters looking forward 200.000000 meters along route # Maximum depth: 885.343485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.577327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788092; longitude = -118.672135; captureRadius = 10; duration = 101; initialDepth = 830.577327; finalDepth = 830.576554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.1663580000001 # Altitude Set: 51.1663580000001 # Vehicle Depth:830.577327 # Seafloor Depth:-881.743685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 122.80; MB_Bottom_Detect_Filter_Min_Depth = 25.58; MB_Bottom_Detect_Filter_Max_Depth = 122.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.943657 meters # Minimum depth: 882.835484 meters looking forward 200.000000 meters along route # Maximum depth: 892.512919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 832.835484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787317; longitude = -118.672714; captureRadius = 10; duration = 112; initialDepth = 832.835484; finalDepth = 830.577327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.01381 # Altitude Set: 53.01381 # Vehicle Depth:832.835484 # Seafloor Depth:-885.849294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 127.23; MB_Bottom_Detect_Filter_Min_Depth = 26.51; MB_Bottom_Detect_Filter_Max_Depth = 127.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.943990 meters # Minimum depth: 888.305248 meters looking forward 200.000000 meters along route # Maximum depth: 898.789032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 838.305248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786453; longitude = -118.673359; captureRadius = 10; duration = 112; initialDepth = 838.305248; finalDepth = 832.835484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.38625 # Altitude Set: 54.38625 # Vehicle Depth:838.305248 # Seafloor Depth:-892.691498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 130.53; MB_Bottom_Detect_Filter_Min_Depth = 27.19; MB_Bottom_Detect_Filter_Max_Depth = 130.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.431826 meters # Minimum depth: 894.468222 meters looking forward 200.000000 meters along route # Maximum depth: 899.543758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 844.468222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785589; longitude = -118.674004; captureRadius = 10; duration = 105; initialDepth = 844.468222; finalDepth = 838.305248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.38625 # Altitude Set: 54.38625 # Vehicle Depth:844.468222 # Seafloor Depth:-898.823285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 130.53; MB_Bottom_Detect_Filter_Min_Depth = 27.19; MB_Bottom_Detect_Filter_Max_Depth = 130.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 40.231723 meters # Minimum depth: 898.154850 meters looking forward 200.000000 meters along route # Maximum depth: 899.543758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.154850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784782; longitude = -118.674606; captureRadius = 10; duration = 40; initialDepth = 848.154850; finalDepth = 844.468222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.3550630000001 # Altitude Set: 54.3550630000001 # Vehicle Depth:848.15485 # Seafloor Depth:-899.303574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.45; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 130.45; MB_Bottom_Detect_Filter_Min_Depth = 27.18; MB_Bottom_Detect_Filter_Max_Depth = 130.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.139520 meters # Minimum depth: 899.299646 meters looking forward 200.000000 meters along route # Maximum depth: 900.174450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.299646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784634; longitude = -118.674210; captureRadius = 10; duration = 100; initialDepth = 849.299646; finalDepth = 848.154850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.148724 # Altitude Set: 51.148724 # Vehicle Depth:849.299646 # Seafloor Depth:-899.760379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 122.76; MB_Bottom_Detect_Filter_Min_Depth = 25.57; MB_Bottom_Detect_Filter_Max_Depth = 122.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 82.409077 meters # Minimum depth: 899.492446 meters looking forward 200.000000 meters along route # Maximum depth: 900.174450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.492446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784264; longitude = -118.673223; captureRadius = 10; duration = 82; initialDepth = 849.492446; finalDepth = 849.299646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.4607329999999 # Altitude Set: 50.4607329999999 # Vehicle Depth:849.492446 # Seafloor Depth:-899.919022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.11; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 121.11; MB_Bottom_Detect_Filter_Min_Depth = 25.23; MB_Bottom_Detect_Filter_Max_Depth = 121.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.451066 meters # Minimum depth: 897.138458 meters looking forward 200.000000 meters along route # Maximum depth: 899.919022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 847.138458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784897; longitude = -118.672758; captureRadius = 10; duration = 112; initialDepth = 847.138458; finalDepth = 849.492446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.441852 # Altitude Set: 52.441852 # Vehicle Depth:847.138458 # Seafloor Depth:-899.580310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 125.86; MB_Bottom_Detect_Filter_Min_Depth = 26.22; MB_Bottom_Detect_Filter_Max_Depth = 125.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 120.204869 meters # Minimum depth: 886.180548 meters looking forward 200.000000 meters along route # Maximum depth: 899.322175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 836.180548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785762; longitude = -118.672123; captureRadius = 10; duration = 120; initialDepth = 836.180548; finalDepth = 847.138458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.842143 # Altitude Set: 60.842143 # Vehicle Depth:836.180548 # Seafloor Depth:-897.022691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 146.02; MB_Bottom_Detect_Filter_Min_Depth = 30.42; MB_Bottom_Detect_Filter_Max_Depth = 146.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.696291 meters # Minimum depth: 880.559756 meters looking forward 200.000000 meters along route # Maximum depth: 894.646844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.559756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786685; longitude = -118.671444; captureRadius = 10; duration = 104; initialDepth = 830.559756; finalDepth = 836.180548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.842143 # Altitude Set: 60.842143 # Vehicle Depth:830.559756 # Seafloor Depth:-885.413637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 146.02; MB_Bottom_Detect_Filter_Min_Depth = 30.42; MB_Bottom_Detect_Filter_Max_Depth = 146.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.450096 meters # Minimum depth: 877.440454 meters looking forward 200.000000 meters along route # Maximum depth: 882.933119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 827.440454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787490; longitude = -118.670853; captureRadius = 10; duration = 112; initialDepth = 827.440454; finalDepth = 830.559756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.853881 # Altitude Set: 54.853881 # Vehicle Depth:827.440454 # Seafloor Depth:-880.376205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 131.65; MB_Bottom_Detect_Filter_Min_Depth = 27.43; MB_Bottom_Detect_Filter_Max_Depth = 131.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.585740 meters # Minimum depth: 877.403041 meters looking forward 200.000000 meters along route # Maximum depth: 879.638512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 827.403041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788354; longitude = -118.670218; captureRadius = 10; duration = 119; initialDepth = 827.403041; finalDepth = 827.440454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.935751 # Altitude Set: 52.935751 # Vehicle Depth:827.403041 # Seafloor Depth:-877.403041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.05; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 127.05; MB_Bottom_Detect_Filter_Min_Depth = 26.47; MB_Bottom_Detect_Filter_Max_Depth = 127.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.313481 meters # Minimum depth: 877.470006 meters looking forward 200.000000 meters along route # Maximum depth: 880.255771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 827.470006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789274; longitude = -118.669543; captureRadius = 10; duration = 105; initialDepth = 827.470006; finalDepth = 827.403041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.866046 # Altitude Set: 50.866046 # Vehicle Depth:827.470006 # Seafloor Depth:-878.336052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 122.08; MB_Bottom_Detect_Filter_Min_Depth = 25.43; MB_Bottom_Detect_Filter_Max_Depth = 122.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.449125 meters # Minimum depth: 878.802069 meters looking forward 200.000000 meters along route # Maximum depth: 882.714580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.802069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790083; longitude = -118.668948; captureRadius = 10; duration = 112; initialDepth = 828.802069; finalDepth = 827.470006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.6418580000001 # Altitude Set: 51.6418580000001 # Vehicle Depth:828.802069 # Seafloor Depth:-880.443927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 123.94; MB_Bottom_Detect_Filter_Min_Depth = 25.82; MB_Bottom_Detect_Filter_Max_Depth = 123.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 118.966621 meters # Minimum depth: 881.055660 meters looking forward 200.000000 meters along route # Maximum depth: 882.740124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 831.055660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790947; longitude = -118.668313; captureRadius = 10; duration = 118; initialDepth = 831.055660; finalDepth = 828.802069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.684464 # Altitude Set: 51.684464 # Vehicle Depth:831.05566 # Seafloor Depth:-882.740124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 124.04; MB_Bottom_Detect_Filter_Min_Depth = 25.84; MB_Bottom_Detect_Filter_Max_Depth = 124.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 113.385776 meters # Minimum depth: 880.739371 meters looking forward 200.000000 meters along route # Maximum depth: 882.267659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.739371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791862; longitude = -118.667641; captureRadius = 10; duration = 113; initialDepth = 830.739371; finalDepth = 831.055660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.684464 # Altitude Set: 51.684464 # Vehicle Depth:830.739371 # Seafloor Depth:-881.637772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.04; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 124.04; MB_Bottom_Detect_Filter_Min_Depth = 25.84; MB_Bottom_Detect_Filter_Max_Depth = 124.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 41.525201 meters # Minimum depth: 880.186078 meters looking forward 200.000000 meters along route # Maximum depth: 882.045290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.186078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792733; longitude = -118.667001; captureRadius = 10; duration = 41; initialDepth = 830.186078; finalDepth = 830.739371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.898401 # Altitude Set: 50.898401 # Vehicle Depth:830.186078 # Seafloor Depth:-880.614670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 122.16; MB_Bottom_Detect_Filter_Min_Depth = 25.45; MB_Bottom_Detect_Filter_Max_Depth = 122.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.251308 meters # Minimum depth: 876.307273 meters looking forward 200.000000 meters along route # Maximum depth: 881.365096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 826.307273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792559; longitude = -118.666604; captureRadius = 10; duration = 109; initialDepth = 826.307273; finalDepth = 830.186078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.273188 # Altitude Set: 53.273188 # Vehicle Depth:826.307273 # Seafloor Depth:-879.580461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 127.86; MB_Bottom_Detect_Filter_Min_Depth = 26.64; MB_Bottom_Detect_Filter_Max_Depth = 127.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 1.200072 meters # Minimum depth: 876.025146 meters looking forward 200.000000 meters along route # Maximum depth: 881.365096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 826.025146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792100; longitude = -118.665560; captureRadius = 10; duration = 1; initialDepth = 826.025146; finalDepth = 826.307273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.273188 # Altitude Set: 53.273188 # Vehicle Depth:826.025146 # Seafloor Depth:-876.025146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.86; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 127.86; MB_Bottom_Detect_Filter_Min_Depth = 26.64; MB_Bottom_Detect_Filter_Max_Depth = 127.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.312593 meters # Minimum depth: 876.025146 meters looking forward 200.000000 meters along route # Maximum depth: 878.911120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 826.025146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792091; longitude = -118.665567; captureRadius = 10; duration = 105; initialDepth = 826.025146; finalDepth = 826.025146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.261919 # Altitude Set: 50.261919 # Vehicle Depth:826.025146 # Seafloor Depth:-876.287065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.63; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.427143 meters # Minimum depth: 876.341785 meters looking forward 200.000000 meters along route # Maximum depth: 876.977075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 826.341785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791293; longitude = -118.666183; captureRadius = 10; duration = 101; initialDepth = 826.341785; finalDepth = 826.025146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.261919 # Altitude Set: 50.261919 # Vehicle Depth:826.341785 # Seafloor Depth:-876.579820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.63; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.870929 meters # Minimum depth: 875.728380 meters looking forward 200.000000 meters along route # Maximum depth: 876.977075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 825.728380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790524; longitude = -118.666777; captureRadius = 10; duration = 103; initialDepth = 825.728380; finalDepth = 826.341785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.060519 # Altitude Set: 51.060519 # Vehicle Depth:825.72838 # Seafloor Depth:-876.788899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.55; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 122.55; MB_Bottom_Detect_Filter_Min_Depth = 25.53; MB_Bottom_Detect_Filter_Max_Depth = 122.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.054978 meters # Minimum depth: 866.106999 meters looking forward 200.000000 meters along route # Maximum depth: 876.581477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 816.106999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789737; longitude = -118.667385; captureRadius = 10; duration = 114; initialDepth = 816.106999; finalDepth = 825.728380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.2174220000001 # Altitude Set: 59.2174220000001 # Vehicle Depth:816.106999 # Seafloor Depth:-875.324421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.61; MB_Bottom_Detect_Filter_Max_Range = 142.12; MB_Bottom_Detect_Filter_Min_Depth = 29.61; MB_Bottom_Detect_Filter_Max_Depth = 142.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.055331 meters # Minimum depth: 865.568539 meters looking forward 200.000000 meters along route # Maximum depth: 877.375072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 815.568539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788873; longitude = -118.668052; captureRadius = 10; duration = 114; initialDepth = 815.568539; finalDepth = 816.106999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.2174220000001 # Altitude Set: 59.2174220000001 # Vehicle Depth:815.568539 # Seafloor Depth:-865.568539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.61; MB_Bottom_Detect_Filter_Max_Range = 142.12; MB_Bottom_Detect_Filter_Min_Depth = 29.61; MB_Bottom_Detect_Filter_Max_Depth = 142.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.055683 meters # Minimum depth: 870.818404 meters looking forward 200.000000 meters along route # Maximum depth: 879.609405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 820.818404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788009; longitude = -118.668720; captureRadius = 10; duration = 114; initialDepth = 820.818404; finalDepth = 815.568539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.764172 # Altitude Set: 56.764172 # Vehicle Depth:820.818404 # Seafloor Depth:-877.582576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 136.23; MB_Bottom_Detect_Filter_Min_Depth = 28.38; MB_Bottom_Detect_Filter_Max_Depth = 136.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.119634 meters # Minimum depth: 878.199715 meters looking forward 200.000000 meters along route # Maximum depth: 883.486475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.199715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787144; longitude = -118.669387; captureRadius = 10; duration = 115; initialDepth = 828.199715; finalDepth = 820.818404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.764172 # Altitude Set: 56.764172 # Vehicle Depth:828.199715 # Seafloor Depth:-879.634817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.23; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 136.23; MB_Bottom_Detect_Filter_Min_Depth = 28.38; MB_Bottom_Detect_Filter_Max_Depth = 136.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 118.139311 meters # Minimum depth: 880.197690 meters looking forward 200.000000 meters along route # Maximum depth: 894.296721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 830.197690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786272; longitude = -118.670061; captureRadius = 10; duration = 118; initialDepth = 830.197690; finalDepth = 828.199715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.3590830000001 # Altitude Set: 53.3590830000001 # Vehicle Depth:830.19769 # Seafloor Depth:-883.556773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 128.06; MB_Bottom_Detect_Filter_Min_Depth = 26.68; MB_Bottom_Detect_Filter_Max_Depth = 128.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.910223 meters # Minimum depth: 885.611783 meters looking forward 200.000000 meters along route # Maximum depth: 899.186798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 835.611783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785377; longitude = -118.670753; captureRadius = 10; duration = 108; initialDepth = 835.611783; finalDepth = 830.197690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.312319 # Altitude Set: 59.312319 # Vehicle Depth:835.611783 # Seafloor Depth:-894.924102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 142.35; MB_Bottom_Detect_Filter_Min_Depth = 29.66; MB_Bottom_Detect_Filter_Max_Depth = 142.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.455881 meters # Minimum depth: 896.891226 meters looking forward 200.000000 meters along route # Maximum depth: 899.675121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 846.891226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784552; longitude = -118.671390; captureRadius = 10; duration = 106; initialDepth = 846.891226; finalDepth = 835.611783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.312319 # Altitude Set: 59.312319 # Vehicle Depth:846.891226 # Seafloor Depth:-899.285828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.35; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 142.35; MB_Bottom_Detect_Filter_Min_Depth = 29.66; MB_Bottom_Detect_Filter_Max_Depth = 142.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 41.475345 meters # Minimum depth: 898.967387 meters looking forward 200.000000 meters along route # Maximum depth: 899.753235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 848.967387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783745; longitude = -118.672013; captureRadius = 10; duration = 41; initialDepth = 848.967387; finalDepth = 846.891226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.3946020000001 # Altitude Set: 52.3946020000001 # Vehicle Depth:848.967387 # Seafloor Depth:-899.753235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 125.75; MB_Bottom_Detect_Filter_Min_Depth = 26.20; MB_Bottom_Detect_Filter_Max_Depth = 125.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.283474 meters # Minimum depth: 899.114268 meters looking forward 200.000000 meters along route # Maximum depth: 899.753235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.114268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783571; longitude = -118.671617; captureRadius = 10; duration = 109; initialDepth = 849.114268; finalDepth = 848.967387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.785848 # Altitude Set: 50.785848 # Vehicle Depth:849.114268 # Seafloor Depth:-899.442361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.89; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 7.699293 meters # Minimum depth: 899.114268 meters looking forward 200.000000 meters along route # Maximum depth: 899.753235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.114268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783111; longitude = -118.670573; captureRadius = 10; duration = 7; initialDepth = 849.114268; finalDepth = 849.114268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.328093 # Altitude Set: 50.328093 # Vehicle Depth:849.114268 # Seafloor Depth:-899.381149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.79; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.79; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.989561 meters # Minimum depth: 899.114268 meters looking forward 200.000000 meters along route # Maximum depth: 899.503869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 849.114268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783169; longitude = -118.670527; captureRadius = 10; duration = 106; initialDepth = 849.114268; finalDepth = 849.114268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.266881 # Altitude Set: 50.266881 # Vehicle Depth:849.114268 # Seafloor Depth:-899.290317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.64; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 120.64; MB_Bottom_Detect_Filter_Min_Depth = 25.13; MB_Bottom_Detect_Filter_Max_Depth = 120.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.066245 meters # Minimum depth: 897.101750 meters looking forward 200.000000 meters along route # Maximum depth: 899.503869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 847.101750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783973; longitude = -118.669888; captureRadius = 10; duration = 100; initialDepth = 847.101750; finalDepth = 849.114268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.072174 # Altitude Set: 52.072174 # Vehicle Depth:847.10175 # Seafloor Depth:-899.173924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 124.97; MB_Bottom_Detect_Filter_Min_Depth = 26.04; MB_Bottom_Detect_Filter_Max_Depth = 124.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.030485 meters # Minimum depth: 888.546961 meters looking forward 200.000000 meters along route # Maximum depth: 899.231961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 838.546961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784725; longitude = -118.669291; captureRadius = 10; duration = 115; initialDepth = 838.546961; finalDepth = 847.101750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.50117 # Altitude Set: 57.50117 # Vehicle Depth:838.546961 # Seafloor Depth:-896.048131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 138.00; MB_Bottom_Detect_Filter_Min_Depth = 28.75; MB_Bottom_Detect_Filter_Max_Depth = 138.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.030114 meters # Minimum depth: 882.040259 meters looking forward 200.000000 meters along route # Maximum depth: 891.609563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 832.040259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785589; longitude = -118.668604; captureRadius = 10; duration = 115; initialDepth = 832.040259; finalDepth = 838.546961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.50117 # Altitude Set: 57.50117 # Vehicle Depth:832.040259 # Seafloor Depth:-887.955468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 138.00; MB_Bottom_Detect_Filter_Min_Depth = 28.75; MB_Bottom_Detect_Filter_Max_Depth = 138.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.029744 meters # Minimum depth: 881.005642 meters looking forward 200.000000 meters along route # Maximum depth: 884.292078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 831.005642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786453; longitude = -118.667917; captureRadius = 10; duration = 115; initialDepth = 831.005642; finalDepth = 832.040259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.915209 # Altitude Set: 55.915209 # Vehicle Depth:831.005642 # Seafloor Depth:-881.636502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 134.20; MB_Bottom_Detect_Filter_Min_Depth = 27.96; MB_Bottom_Detect_Filter_Max_Depth = 134.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.029373 meters # Minimum depth: 878.392259 meters looking forward 200.000000 meters along route # Maximum depth: 881.221090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 828.392259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787317; longitude = -118.667231; captureRadius = 10; duration = 115; initialDepth = 828.392259; finalDepth = 831.005642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.5593270000001 # Altitude Set: 52.5593270000001 # Vehicle Depth:828.392259 # Seafloor Depth:-880.951586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.14; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 126.14; MB_Bottom_Detect_Filter_Min_Depth = 26.28; MB_Bottom_Detect_Filter_Max_Depth = 126.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.029003 meters # Minimum depth: 874.981651 meters looking forward 200.000000 meters along route # Maximum depth: 880.102065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 824.981651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788182; longitude = -118.666544; captureRadius = 10; duration = 115; initialDepth = 824.981651; finalDepth = 828.392259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.1150809999999 # Altitude Set: 53.1150809999999 # Vehicle Depth:824.981651 # Seafloor Depth:-878.096732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 127.48; MB_Bottom_Detect_Filter_Min_Depth = 26.56; MB_Bottom_Detect_Filter_Max_Depth = 127.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.028632 meters # Minimum depth: 873.835718 meters looking forward 200.000000 meters along route # Maximum depth: 876.744842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.835718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789046; longitude = -118.665857; captureRadius = 10; duration = 115; initialDepth = 823.835718; finalDepth = 824.981651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.1150809999999 # Altitude Set: 53.1150809999999 # Vehicle Depth:823.835718 # Seafloor Depth:-874.704393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 127.48; MB_Bottom_Detect_Filter_Min_Depth = 26.56; MB_Bottom_Detect_Filter_Max_Depth = 127.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.317295 meters # Minimum depth: 873.835718 meters looking forward 200.000000 meters along route # Maximum depth: 874.742507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.835718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789910; longitude = -118.665171; captureRadius = 10; duration = 107; initialDepth = 823.835718; finalDepth = 823.835718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8686749999999 # Altitude Set: 50.8686749999999 # Vehicle Depth:823.835718 # Seafloor Depth:-874.610086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 122.08; MB_Bottom_Detect_Filter_Min_Depth = 25.43; MB_Bottom_Detect_Filter_Max_Depth = 122.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.354553 meters # Minimum depth: 873.731375 meters looking forward 200.000000 meters along route # Maximum depth: 874.742507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.731375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790716; longitude = -118.664530; captureRadius = 10; duration = 107; initialDepth = 823.731375; finalDepth = 823.835718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8055750000001 # Altitude Set: 50.8055750000001 # Vehicle Depth:823.731375 # Seafloor Depth:-874.536950 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 15.455037 meters # Minimum depth: 873.731375 meters looking forward 200.000000 meters along route # Maximum depth: 874.742507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.731375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791523; longitude = -118.663889; captureRadius = 10; duration = 15; initialDepth = 823.731375; finalDepth = 823.731375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8055750000001 # Altitude Set: 50.8055750000001 # Vehicle Depth:823.731375 # Seafloor Depth:-873.897354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.545824 meters # Minimum depth: 873.309438 meters looking forward 200.000000 meters along route # Maximum depth: 874.188274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 823.309438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791639; longitude = -118.663796; captureRadius = 10; duration = 107; initialDepth = 823.309438; finalDepth = 823.731375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.679018 # Altitude Set: 50.679018 # Vehicle Depth:823.309438 # Seafloor Depth:-873.988456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.63; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 121.63; MB_Bottom_Detect_Filter_Min_Depth = 25.34; MB_Bottom_Detect_Filter_Max_Depth = 121.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.455382 meters # Minimum depth: 872.419239 meters looking forward 200.000000 meters along route # Maximum depth: 873.881492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 822.419239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792443; longitude = -118.663147; captureRadius = 10; duration = 100; initialDepth = 822.419239; finalDepth = 823.309438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8068820000001 # Altitude Set: 50.8068820000001 # Vehicle Depth:822.419239 # Seafloor Depth:-873.226121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.94; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.144743 meters # Minimum depth: 871.702701 meters looking forward 200.000000 meters along route # Maximum depth: 873.149643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 821.702701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793194; longitude = -118.662541; captureRadius = 10; duration = 100; initialDepth = 821.702701; finalDepth = 822.419239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.8068820000001 # Altitude Set: 50.8068820000001 # Vehicle Depth:821.702701 # Seafloor Depth:-872.450022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.94; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.628128 meters # Minimum depth: 870.808948 meters looking forward 200.000000 meters along route # Maximum depth: 872.346102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 820.808948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793943; longitude = -118.661937; captureRadius = 10; duration = 114; initialDepth = 820.808948; finalDepth = 821.702701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.956788 # Altitude Set: 50.956788 # Vehicle Depth:820.808948 # Seafloor Depth:-871.765736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.30; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 122.30; MB_Bottom_Detect_Filter_Min_Depth = 25.48; MB_Bottom_Detect_Filter_Max_Depth = 122.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.627754 meters # Minimum depth: 869.559020 meters looking forward 200.000000 meters along route # Maximum depth: 871.917968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 819.559020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794801; longitude = -118.661246; captureRadius = 10; duration = 114; initialDepth = 819.559020; finalDepth = 820.808948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.2125619999999 # Altitude Set: 51.2125619999999 # Vehicle Depth:819.55902 # Seafloor Depth:-870.771582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 122.91; MB_Bottom_Detect_Filter_Min_Depth = 25.61; MB_Bottom_Detect_Filter_Max_Depth = 122.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.627381 meters # Minimum depth: 868.159285 meters looking forward 200.000000 meters along route # Maximum depth: 870.506309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 818.159285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795658; longitude = -118.660554; captureRadius = 10; duration = 114; initialDepth = 818.159285; finalDepth = 819.559020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.299738 # Altitude Set: 51.299738 # Vehicle Depth:818.159285 # Seafloor Depth:-869.459023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 123.12; MB_Bottom_Detect_Filter_Min_Depth = 25.65; MB_Bottom_Detect_Filter_Max_Depth = 123.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.627006 meters # Minimum depth: 865.396004 meters looking forward 200.000000 meters along route # Maximum depth: 868.882893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 815.396004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796515; longitude = -118.659863; captureRadius = 10; duration = 114; initialDepth = 815.396004; finalDepth = 818.159285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.72504 # Altitude Set: 52.72504 # Vehicle Depth:815.396004 # Seafloor Depth:-868.121044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 126.54; MB_Bottom_Detect_Filter_Min_Depth = 26.36; MB_Bottom_Detect_Filter_Max_Depth = 126.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.626632 meters # Minimum depth: 862.992902 meters looking forward 200.000000 meters along route # Maximum depth: 867.430614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 812.992902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797373; longitude = -118.659172; captureRadius = 10; duration = 114; initialDepth = 812.992902; finalDepth = 815.396004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.72504 # Altitude Set: 52.72504 # Vehicle Depth:812.992902 # Seafloor Depth:-865.362669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 126.54; MB_Bottom_Detect_Filter_Min_Depth = 26.36; MB_Bottom_Detect_Filter_Max_Depth = 126.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.626259 meters # Minimum depth: 859.893843 meters looking forward 200.000000 meters along route # Maximum depth: 864.769754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 809.893843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798230; longitude = -118.658480; captureRadius = 10; duration = 114; initialDepth = 809.893843; finalDepth = 812.992902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.045152 # Altitude Set: 53.045152 # Vehicle Depth:809.893843 # Seafloor Depth:-862.938995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.31; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 127.31; MB_Bottom_Detect_Filter_Min_Depth = 26.52; MB_Bottom_Detect_Filter_Max_Depth = 127.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.625885 meters # Minimum depth: 856.146549 meters looking forward 200.000000 meters along route # Maximum depth: 862.208711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 806.146549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799087; longitude = -118.657789; captureRadius = 10; duration = 114; initialDepth = 806.146549; finalDepth = 809.893843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.6703849999999 # Altitude Set: 53.6703849999999 # Vehicle Depth:806.146549 # Seafloor Depth:-859.816934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 128.81; MB_Bottom_Detect_Filter_Min_Depth = 26.84; MB_Bottom_Detect_Filter_Max_Depth = 128.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.625510 meters # Minimum depth: 851.969280 meters looking forward 200.000000 meters along route # Maximum depth: 858.438125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 801.969280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799945; longitude = -118.657097; captureRadius = 10; duration = 114; initialDepth = 801.969280; finalDepth = 806.146549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.1364609999999 # Altitude Set: 54.1364609999999 # Vehicle Depth:801.96928 # Seafloor Depth:-856.105741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.93; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 129.93; MB_Bottom_Detect_Filter_Min_Depth = 27.07; MB_Bottom_Detect_Filter_Max_Depth = 129.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.270109 meters # Minimum depth: 847.614918 meters looking forward 200.000000 meters along route # Maximum depth: 854.665829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 797.614918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800802; longitude = -118.656406; captureRadius = 10; duration = 115; initialDepth = 797.614918; finalDepth = 801.969280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.345768 # Altitude Set: 54.345768 # Vehicle Depth:797.614918 # Seafloor Depth:-851.960686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 130.43; MB_Bottom_Detect_Filter_Min_Depth = 27.17; MB_Bottom_Detect_Filter_Max_Depth = 130.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.551970 meters # Minimum depth: 831.737697 meters looking forward 200.000000 meters along route # Maximum depth: 850.815130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 781.737697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801664; longitude = -118.655711; captureRadius = 10; duration = 115; initialDepth = 781.737697; finalDepth = 797.614918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.8253109999999 # Altitude Set: 65.8253109999999 # Vehicle Depth:781.737697 # Seafloor Depth:-847.563008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 157.98; MB_Bottom_Detect_Filter_Min_Depth = 32.91; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.551589 meters # Minimum depth: 824.857109 meters looking forward 200.000000 meters along route # Maximum depth: 842.645938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 774.857109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802528; longitude = -118.655014; captureRadius = 10; duration = 115; initialDepth = 774.857109; finalDepth = 781.737697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.8253109999999 # Altitude Set: 65.8253109999999 # Vehicle Depth:774.857109 # Seafloor Depth:-831.489578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.98; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 157.98; MB_Bottom_Detect_Filter_Min_Depth = 32.91; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.551209 meters # Minimum depth: 824.837082 meters looking forward 200.000000 meters along route # Maximum depth: 828.512378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 774.837082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803393; longitude = -118.654317; captureRadius = 10; duration = 115; initialDepth = 774.837082; finalDepth = 774.857109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.632469 # Altitude Set: 56.632469 # Vehicle Depth:774.837082 # Seafloor Depth:-824.837082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.32; MB_Bottom_Detect_Filter_Max_Range = 135.92; MB_Bottom_Detect_Filter_Min_Depth = 28.32; MB_Bottom_Detect_Filter_Max_Depth = 135.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.550829 meters # Minimum depth: 825.415883 meters looking forward 200.000000 meters along route # Maximum depth: 834.849139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 775.415883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804257; longitude = -118.653620; captureRadius = 10; duration = 115; initialDepth = 775.415883; finalDepth = 774.837082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.330619 # Altitude Set: 53.330619 # Vehicle Depth:775.415883 # Seafloor Depth:-828.746502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 127.99; MB_Bottom_Detect_Filter_Min_Depth = 26.67; MB_Bottom_Detect_Filter_Max_Depth = 127.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.550449 meters # Minimum depth: 831.760271 meters looking forward 200.000000 meters along route # Maximum depth: 840.118233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 781.760271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805121; longitude = -118.652923; captureRadius = 10; duration = 115; initialDepth = 781.760271; finalDepth = 775.415883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.330619 # Altitude Set: 53.330619 # Vehicle Depth:781.760271 # Seafloor Depth:-835.076008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 127.99; MB_Bottom_Detect_Filter_Min_Depth = 26.67; MB_Bottom_Detect_Filter_Max_Depth = 127.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.550070 meters # Minimum depth: 837.344990 meters looking forward 200.000000 meters along route # Maximum depth: 844.187756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 787.344990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805985; longitude = -118.652226; captureRadius = 10; duration = 115; initialDepth = 787.344990; finalDepth = 781.760271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 53.315737 # Altitude Set: 53.315737 # Vehicle Depth:787.34499 # Seafloor Depth:-840.329341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.96; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 127.96; MB_Bottom_Detect_Filter_Min_Depth = 26.66; MB_Bottom_Detect_Filter_Max_Depth = 127.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.549689 meters # Minimum depth: 842.099936 meters looking forward 200.000000 meters along route # Maximum depth: 845.926860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 792.099936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806850; longitude = -118.651529; captureRadius = 10; duration = 115; initialDepth = 792.099936; finalDepth = 787.344990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.9843509999999 # Altitude Set: 52.9843509999999 # Vehicle Depth:792.099936 # Seafloor Depth:-844.343126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.16; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 127.16; MB_Bottom_Detect_Filter_Min_Depth = 26.49; MB_Bottom_Detect_Filter_Max_Depth = 127.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.486857 meters # Minimum depth: 844.867811 meters looking forward 200.000000 meters along route # Maximum depth: 847.397620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 794.867811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807714; longitude = -118.650832; captureRadius = 10; duration = 107; initialDepth = 794.867811; finalDepth = 792.099936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.24319 # Altitude Set: 52.24319 # Vehicle Depth:794.867811 # Seafloor Depth:-846.032825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 125.38; MB_Bottom_Detect_Filter_Min_Depth = 26.12; MB_Bottom_Detect_Filter_Max_Depth = 125.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.501627 meters # Minimum depth: 846.470922 meters looking forward 200.000000 meters along route # Maximum depth: 847.397620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 796.470922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808518; longitude = -118.650183; captureRadius = 10; duration = 100; initialDepth = 796.470922; finalDepth = 794.867811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 51.165014 # Altitude Set: 51.165014 # Vehicle Depth:796.470922 # Seafloor Depth:-847.375780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.80; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 122.80; MB_Bottom_Detect_Filter_Min_Depth = 25.58; MB_Bottom_Detect_Filter_Max_Depth = 122.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.086228 meters # Minimum depth: 846.480401 meters looking forward 200.000000 meters along route # Maximum depth: 847.360231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 796.480401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809269; longitude = -118.649577; captureRadius = 10; duration = 100; initialDepth = 796.480401; finalDepth = 796.470922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 50.904858 # Altitude Set: 50.904858 # Vehicle Depth:796.480401 # Seafloor Depth:-846.480401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.17; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 122.17; MB_Bottom_Detect_Filter_Min_Depth = 25.45; MB_Bottom_Detect_Filter_Max_Depth = 122.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.621118 meters # Minimum depth: 844.139614 meters looking forward 200.000000 meters along route # Maximum depth: 846.721198 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 794.139614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810018; longitude = -118.648973; captureRadius = 10; duration = 114; initialDepth = 794.139614; finalDepth = 796.480401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.39388 # Altitude Set: 52.39388 # Vehicle Depth:794.139614 # Seafloor Depth:-846.533494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 125.75; MB_Bottom_Detect_Filter_Min_Depth = 26.20; MB_Bottom_Detect_Filter_Max_Depth = 125.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.620744 meters # Minimum depth: 841.774828 meters looking forward 200.000000 meters along route # Maximum depth: 846.377541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 791.774828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810875; longitude = -118.648282; captureRadius = 10; duration = 114; initialDepth = 791.774828; finalDepth = 794.139614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 52.39388 # Altitude Set: 52.39388 # Vehicle Depth:791.774828 # Seafloor Depth:-843.969054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.75; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 125.75; MB_Bottom_Detect_Filter_Min_Depth = 26.20; MB_Bottom_Detect_Filter_Max_Depth = 125.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.620370 meters # Minimum depth: 835.924274 meters looking forward 200.000000 meters along route # Maximum depth: 843.327988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 785.924274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811733; longitude = -118.647590; captureRadius = 10; duration = 114; initialDepth = 785.924274; finalDepth = 791.774828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.615823 # Altitude Set: 55.615823 # Vehicle Depth:785.924274 # Seafloor Depth:-841.540097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.48; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 133.48; MB_Bottom_Detect_Filter_Min_Depth = 27.81; MB_Bottom_Detect_Filter_Max_Depth = 133.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.619996 meters # Minimum depth: 829.029153 meters looking forward 200.000000 meters along route # Maximum depth: 839.410865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 779.029153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812590; longitude = -118.646899; captureRadius = 10; duration = 114; initialDepth = 779.029153; finalDepth = 785.924274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.7306860000001 # Altitude Set: 56.7306860000001 # Vehicle Depth:779.029153 # Seafloor Depth:-835.759839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.15; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 136.15; MB_Bottom_Detect_Filter_Min_Depth = 28.37; MB_Bottom_Detect_Filter_Max_Depth = 136.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.619622 meters # Minimum depth: 818.008890 meters looking forward 200.000000 meters along route # Maximum depth: 834.620563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 768.008890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813447; longitude = -118.646208; captureRadius = 10; duration = 114; initialDepth = 768.008890; finalDepth = 779.029153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.6585600000001 # Altitude Set: 60.6585600000001 # Vehicle Depth:768.00889 # Seafloor Depth:-828.667450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.58; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 145.58; MB_Bottom_Detect_Filter_Min_Depth = 30.33; MB_Bottom_Detect_Filter_Max_Depth = 145.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.619248 meters # Minimum depth: 806.835410 meters looking forward 200.000000 meters along route # Maximum depth: 824.682267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 756.835410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814305; longitude = -118.645516; captureRadius = 10; duration = 114; initialDepth = 756.835410; finalDepth = 768.008890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.8819169999999 # Altitude Set: 60.8819169999999 # Vehicle Depth:756.83541 # Seafloor Depth:-817.717327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.12; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 146.12; MB_Bottom_Detect_Filter_Min_Depth = 30.44; MB_Bottom_Detect_Filter_Max_Depth = 146.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.618875 meters # Minimum depth: 795.566107 meters looking forward 200.000000 meters along route # Maximum depth: 813.540843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 745.566107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815162; longitude = -118.644825; captureRadius = 10; duration = 114; initialDepth = 745.566107; finalDepth = 756.835410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.0663970000001 # Altitude Set: 61.0663970000001 # Vehicle Depth:745.566107 # Seafloor Depth:-806.632504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.56; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 146.56; MB_Bottom_Detect_Filter_Min_Depth = 30.53; MB_Bottom_Detect_Filter_Max_Depth = 146.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.618501 meters # Minimum depth: 784.041799 meters looking forward 200.000000 meters along route # Maximum depth: 802.347046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 734.041799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816019; longitude = -118.644133; captureRadius = 10; duration = 114; initialDepth = 734.041799; finalDepth = 745.566107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.4101460000001 # Altitude Set: 61.4101460000001 # Vehicle Depth:734.041799 # Seafloor Depth:-795.451945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.38; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 147.38; MB_Bottom_Detect_Filter_Min_Depth = 30.71; MB_Bottom_Detect_Filter_Max_Depth = 147.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.315448 meters # Minimum depth: 772.267541 meters looking forward 200.000000 meters along route # Maximum depth: 790.990940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 722.267541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816877; longitude = -118.643442; captureRadius = 10; duration = 115; initialDepth = 722.267541; finalDepth = 734.041799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.7508509999999 # Altitude Set: 61.7508509999999 # Vehicle Depth:722.267541 # Seafloor Depth:-784.018392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 148.20; MB_Bottom_Detect_Filter_Min_Depth = 30.88; MB_Bottom_Detect_Filter_Max_Depth = 148.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.544903 meters # Minimum depth: 767.698750 meters looking forward 200.000000 meters along route # Maximum depth: 779.323678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 717.698750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817739; longitude = -118.642746; captureRadius = 10; duration = 115; initialDepth = 717.698750; finalDepth = 722.267541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.7508509999999 # Altitude Set: 61.7508509999999 # Vehicle Depth:717.69875 # Seafloor Depth:-772.196531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 148.20; MB_Bottom_Detect_Filter_Min_Depth = 30.88; MB_Bottom_Detect_Filter_Max_Depth = 148.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.544523 meters # Minimum depth: 762.764114 meters looking forward 200.000000 meters along route # Maximum depth: 770.333193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 712.764114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818603; longitude = -118.642049; captureRadius = 10; duration = 115; initialDepth = 712.764114; finalDepth = 717.698750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 54.880843 # Altitude Set: 54.880843 # Vehicle Depth:712.764114 # Seafloor Depth:-767.644957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 131.71; MB_Bottom_Detect_Filter_Min_Depth = 27.44; MB_Bottom_Detect_Filter_Max_Depth = 131.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.544143 meters # Minimum depth: 751.395094 meters looking forward 200.000000 meters along route # Maximum depth: 766.551188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 701.395094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.819468; longitude = -118.641352; captureRadius = 10; duration = 115; initialDepth = 701.395094; finalDepth = 712.764114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.140681 # Altitude Set: 61.140681 # Vehicle Depth:701.395094 # Seafloor Depth:-762.535775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.74; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 146.74; MB_Bottom_Detect_Filter_Min_Depth = 30.57; MB_Bottom_Detect_Filter_Max_Depth = 146.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.543763 meters # Minimum depth: 739.782333 meters looking forward 200.000000 meters along route # Maximum depth: 758.098627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 689.782333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.820332; longitude = -118.640655; captureRadius = 10; duration = 115; initialDepth = 689.782333; finalDepth = 701.395094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.246093 # Altitude Set: 61.246093 # Vehicle Depth:689.782333 # Seafloor Depth:-751.028426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 146.99; MB_Bottom_Detect_Filter_Min_Depth = 30.62; MB_Bottom_Detect_Filter_Max_Depth = 146.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.543384 meters # Minimum depth: 729.093140 meters looking forward 200.000000 meters along route # Maximum depth: 746.375858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 679.093140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.821196; longitude = -118.639958; captureRadius = 10; duration = 115; initialDepth = 679.093140; finalDepth = 689.782333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.246093 # Altitude Set: 61.246093 # Vehicle Depth:679.09314 # Seafloor Depth:-739.339330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.99; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 146.99; MB_Bottom_Detect_Filter_Min_Depth = 30.62; MB_Bottom_Detect_Filter_Max_Depth = 146.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.543004 meters # Minimum depth: 719.186900 meters looking forward 200.000000 meters along route # Maximum depth: 734.826348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 669.186900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822061; longitude = -118.639261; captureRadius = 10; duration = 115; initialDepth = 669.186900; finalDepth = 679.093140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.2461900000001 # Altitude Set: 60.2461900000001 # Vehicle Depth:669.1869 # Seafloor Depth:-728.629416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.59; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 144.59; MB_Bottom_Detect_Filter_Min_Depth = 30.12; MB_Bottom_Detect_Filter_Max_Depth = 144.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.542624 meters # Minimum depth: 708.435296 meters looking forward 200.000000 meters along route # Maximum depth: 724.558321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 658.435296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.822925; longitude = -118.638564; captureRadius = 10; duration = 115; initialDepth = 658.435296; finalDepth = 669.186900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.216904 # Altitude Set: 60.216904 # Vehicle Depth:658.435296 # Seafloor Depth:-718.652200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 144.52; MB_Bottom_Detect_Filter_Min_Depth = 30.11; MB_Bottom_Detect_Filter_Max_Depth = 144.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.427897 meters # Minimum depth: 698.168556 meters looking forward 200.000000 meters along route # Maximum depth: 716.661799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 648.168556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.823789; longitude = -118.637867; captureRadius = 10; duration = 107; initialDepth = 648.168556; finalDepth = 658.435296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.216904 # Altitude Set: 60.216904 # Vehicle Depth:648.168556 # Seafloor Depth:-707.674081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 144.52; MB_Bottom_Detect_Filter_Min_Depth = 30.11; MB_Bottom_Detect_Filter_Max_Depth = 144.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.547869 meters # Minimum depth: 687.427121 meters looking forward 200.000000 meters along route # Maximum depth: 705.375396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 637.427121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.824593; longitude = -118.637219; captureRadius = 10; duration = 100; initialDepth = 637.427121; finalDepth = 648.168556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.505525 # Altitude Set: 59.505525 # Vehicle Depth:637.427121 # Seafloor Depth:-696.653882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.75; MB_Bottom_Detect_Filter_Max_Range = 142.81; MB_Bottom_Detect_Filter_Min_Depth = 29.75; MB_Bottom_Detect_Filter_Max_Depth = 142.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.027722 meters # Minimum depth: 676.187655 meters looking forward 200.000000 meters along route # Maximum depth: 695.831886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 626.187655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.825345; longitude = -118.636613; captureRadius = 10; duration = 100; initialDepth = 626.187655; finalDepth = 637.427121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.587968 # Altitude Set: 59.587968 # Vehicle Depth:626.187655 # Seafloor Depth:-685.775623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 143.01; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.79; MB_Bottom_Detect_Filter_Max_Range = 143.01; MB_Bottom_Detect_Filter_Min_Depth = 29.79; MB_Bottom_Detect_Filter_Max_Depth = 143.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.614110 meters # Minimum depth: 664.620975 meters looking forward 200.000000 meters along route # Maximum depth: 683.282992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 614.620975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826093; longitude = -118.636009; captureRadius = 10; duration = 114; initialDepth = 614.620975; finalDepth = 626.187655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 60.840347 # Altitude Set: 60.840347 # Vehicle Depth:614.620975 # Seafloor Depth:-675.461322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.02; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 146.02; MB_Bottom_Detect_Filter_Min_Depth = 30.42; MB_Bottom_Detect_Filter_Max_Depth = 146.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.613736 meters # Minimum depth: 651.428461 meters looking forward 200.000000 meters along route # Maximum depth: 671.865581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 601.428461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.826950; longitude = -118.635318; captureRadius = 10; duration = 114; initialDepth = 601.428461; finalDepth = 614.620975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.475911 # Altitude Set: 62.475911 # Vehicle Depth:601.428461 # Seafloor Depth:-663.904372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.94; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 149.94; MB_Bottom_Detect_Filter_Min_Depth = 31.24; MB_Bottom_Detect_Filter_Max_Depth = 149.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.613362 meters # Minimum depth: 637.129544 meters looking forward 200.000000 meters along route # Maximum depth: 659.611213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 587.129544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.827808; longitude = -118.634627; captureRadius = 10; duration = 114; initialDepth = 587.129544; finalDepth = 601.428461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.604418 # Altitude Set: 63.604418 # Vehicle Depth:587.129544 # Seafloor Depth:-650.733962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 152.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 152.65; MB_Bottom_Detect_Filter_Min_Depth = 31.80; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.612988 meters # Minimum depth: 624.525136 meters looking forward 200.000000 meters along route # Maximum depth: 645.763256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 574.525136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.828665; longitude = -118.633935; captureRadius = 10; duration = 114; initialDepth = 574.525136; finalDepth = 587.129544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.604418 # Altitude Set: 63.604418 # Vehicle Depth:574.525136 # Seafloor Depth:-636.535697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 152.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 152.65; MB_Bottom_Detect_Filter_Min_Depth = 31.80; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.612615 meters # Minimum depth: 611.003399 meters looking forward 200.000000 meters along route # Maximum depth: 631.481302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 561.003399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.829522; longitude = -118.633244; captureRadius = 10; duration = 114; initialDepth = 561.003399; finalDepth = 574.525136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.1404020000001 # Altitude Set: 63.1404020000001 # Vehicle Depth:561.003399 # Seafloor Depth:-624.143801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.54; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 151.54; MB_Bottom_Detect_Filter_Min_Depth = 31.57; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.612241 meters # Minimum depth: 597.338392 meters looking forward 200.000000 meters along route # Maximum depth: 619.542666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 547.338392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.830380; longitude = -118.632552; captureRadius = 10; duration = 114; initialDepth = 547.338392; finalDepth = 561.003399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.313353 # Altitude Set: 63.313353 # Vehicle Depth:547.338392 # Seafloor Depth:-610.651745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.95; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 151.95; MB_Bottom_Detect_Filter_Min_Depth = 31.66; MB_Bottom_Detect_Filter_Max_Depth = 151.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.611867 meters # Minimum depth: 581.461654 meters looking forward 200.000000 meters along route # Maximum depth: 605.500039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 531.461654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.831237; longitude = -118.631861; captureRadius = 10; duration = 114; initialDepth = 531.461654; finalDepth = 547.338392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.6239800000001 # Altitude Set: 65.6239800000001 # Vehicle Depth:531.461654 # Seafloor Depth:-597.085634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.50; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 157.50; MB_Bottom_Detect_Filter_Min_Depth = 32.81; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.611494 meters # Minimum depth: 564.162971 meters looking forward 200.000000 meters along route # Maximum depth: 591.269726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 514.162971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832094; longitude = -118.631169; captureRadius = 10; duration = 114; initialDepth = 514.162971; finalDepth = 531.461654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.137552 # Altitude Set: 67.137552 # Vehicle Depth:514.162971 # Seafloor Depth:-581.300523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.13; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 161.13; MB_Bottom_Detect_Filter_Min_Depth = 33.57; MB_Bottom_Detect_Filter_Max_Depth = 161.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.360783 meters # Minimum depth: 545.484952 meters looking forward 200.000000 meters along route # Maximum depth: 574.595322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 495.484952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.832952; longitude = -118.630478; captureRadius = 10; duration = 115; initialDepth = 495.484952; finalDepth = 514.162971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.6502839999999 # Altitude Set: 68.6502839999999 # Vehicle Depth:495.484952 # Seafloor Depth:-564.135236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 164.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 164.76; MB_Bottom_Detect_Filter_Min_Depth = 34.33; MB_Bottom_Detect_Filter_Max_Depth = 164.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.537839 meters # Minimum depth: 529.670925 meters looking forward 200.000000 meters along route # Maximum depth: 556.870198 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 479.670925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.833814; longitude = -118.629782; captureRadius = 10; duration = 115; initialDepth = 479.670925; finalDepth = 495.484952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 68.6502839999999 # Altitude Set: 68.6502839999999 # Vehicle Depth:479.670925 # Seafloor Depth:-545.362209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 164.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 164.76; MB_Bottom_Detect_Filter_Min_Depth = 34.33; MB_Bottom_Detect_Filter_Max_Depth = 164.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.537460 meters # Minimum depth: 512.134027 meters looking forward 200.000000 meters along route # Maximum depth: 538.048192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 462.134027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834679; longitude = -118.629085; captureRadius = 10; duration = 115; initialDepth = 462.134027; finalDepth = 479.670925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.3527780000001 # Altitude Set: 67.3527780000001 # Vehicle Depth:462.134027 # Seafloor Depth:-529.486805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 161.65; MB_Bottom_Detect_Filter_Min_Depth = 33.68; MB_Bottom_Detect_Filter_Max_Depth = 161.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.537080 meters # Minimum depth: 495.205188 meters looking forward 200.000000 meters along route # Maximum depth: 523.258364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 445.205188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835543; longitude = -118.628388; captureRadius = 10; duration = 115; initialDepth = 445.205188; finalDepth = 462.134027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.3527780000001 # Altitude Set: 67.3527780000001 # Vehicle Depth:445.205188 # Seafloor Depth:-511.670168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.65; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 161.65; MB_Bottom_Detect_Filter_Min_Depth = 33.68; MB_Bottom_Detect_Filter_Max_Depth = 161.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.536700 meters # Minimum depth: 480.382481 meters looking forward 200.000000 meters along route # Maximum depth: 504.130004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 430.382481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836407; longitude = -118.627691; captureRadius = 10; duration = 115; initialDepth = 430.382481; finalDepth = 445.205188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.46498 # Altitude Set: 66.46498 # Vehicle Depth:430.382481 # Seafloor Depth:-494.750569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.52; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 159.52; MB_Bottom_Detect_Filter_Min_Depth = 33.23; MB_Bottom_Detect_Filter_Max_Depth = 159.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.536320 meters # Minimum depth: 464.447697 meters looking forward 200.000000 meters along route # Maximum depth: 488.922271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 414.447697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837271; longitude = -118.626994; captureRadius = 10; duration = 115; initialDepth = 414.447697; finalDepth = 430.382481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.31578 # Altitude Set: 65.31578 # Vehicle Depth:414.447697 # Seafloor Depth:-479.763477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 156.76; MB_Bottom_Detect_Filter_Min_Depth = 32.66; MB_Bottom_Detect_Filter_Max_Depth = 156.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.535941 meters # Minimum depth: 450.075679 meters looking forward 200.000000 meters along route # Maximum depth: 473.107641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 400.075679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838136; longitude = -118.626297; captureRadius = 10; duration = 115; initialDepth = 400.075679; finalDepth = 414.447697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.31578 # Altitude Set: 65.31578 # Vehicle Depth:400.075679 # Seafloor Depth:-463.748482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.76; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 156.76; MB_Bottom_Detect_Filter_Min_Depth = 32.66; MB_Bottom_Detect_Filter_Max_Depth = 156.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.535561 meters # Minimum depth: 432.346259 meters looking forward 200.000000 meters along route # Maximum depth: 457.842982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 382.346259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839000; longitude = -118.625600; captureRadius = 10; duration = 115; initialDepth = 382.346259; finalDepth = 400.075679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.918833 # Altitude Set: 66.918833 # Vehicle Depth:382.346259 # Seafloor Depth:-449.265092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 160.61; MB_Bottom_Detect_Filter_Min_Depth = 33.46; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.535181 meters # Minimum depth: 417.904848 meters looking forward 200.000000 meters along route # Maximum depth: 444.212851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 367.904848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839864; longitude = -118.624903; captureRadius = 10; duration = 115; initialDepth = 367.904848; finalDepth = 382.346259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.918833 # Altitude Set: 66.918833 # Vehicle Depth:367.904848 # Seafloor Depth:-431.145918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.61; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 160.61; MB_Bottom_Detect_Filter_Min_Depth = 33.46; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.534802 meters # Minimum depth: 405.672188 meters looking forward 200.000000 meters along route # Maximum depth: 425.241964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 355.672188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840729; longitude = -118.624206; captureRadius = 10; duration = 115; initialDepth = 355.672188; finalDepth = 367.904848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 63.24107 # Altitude Set: 63.24107 # Vehicle Depth:355.672188 # Seafloor Depth:-417.042417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 151.78; MB_Bottom_Detect_Filter_Min_Depth = 31.62; MB_Bottom_Detect_Filter_Max_Depth = 151.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.534422 meters # Minimum depth: 388.498314 meters looking forward 200.000000 meters along route # Maximum depth: 411.974105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 338.498314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841593; longitude = -118.623509; captureRadius = 10; duration = 115; initialDepth = 338.498314; finalDepth = 355.672188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.856743 # Altitude Set: 65.856743 # Vehicle Depth:338.498314 # Seafloor Depth:-404.355057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 158.06; MB_Bottom_Detect_Filter_Min_Depth = 32.93; MB_Bottom_Detect_Filter_Max_Depth = 158.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.586696 meters # Minimum depth: 376.101849 meters looking forward 200.000000 meters along route # Maximum depth: 400.687175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 326.101849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842457; longitude = -118.622812; captureRadius = 10; duration = 104; initialDepth = 326.101849; finalDepth = 338.498314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.856743 # Altitude Set: 65.856743 # Vehicle Depth:326.101849 # Seafloor Depth:-387.190842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.06; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 158.06; MB_Bottom_Detect_Filter_Min_Depth = 32.93; MB_Bottom_Detect_Filter_Max_Depth = 158.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.952279 meters # Minimum depth: 362.081221 meters looking forward 200.000000 meters along route # Maximum depth: 385.059308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 312.081221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843239; longitude = -118.622181; captureRadius = 10; duration = 105; initialDepth = 312.081221; finalDepth = 326.101849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.461996 # Altitude Set: 62.461996 # Vehicle Depth:312.081221 # Seafloor Depth:-374.543217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 149.91; MB_Bottom_Detect_Filter_Min_Depth = 31.23; MB_Bottom_Detect_Filter_Max_Depth = 149.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 58.599054 meters # Minimum depth: 356.325049 meters looking forward 200.000000 meters along route # Maximum depth: 379.117382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 306.325049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844032; longitude = -118.621542; captureRadius = 10; duration = 58; initialDepth = 306.325049; finalDepth = 312.081221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.461996 # Altitude Set: 62.461996 # Vehicle Depth:306.325049 # Seafloor Depth:-361.379913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.91; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 149.91; MB_Bottom_Detect_Filter_Min_Depth = 31.23; MB_Bottom_Detect_Filter_Max_Depth = 149.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.820157 meters # Minimum depth: 343.489469 meters looking forward 200.000000 meters along route # Maximum depth: 364.761520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 293.489469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844443; longitude = -118.621144; captureRadius = 10; duration = 101; initialDepth = 293.489469; finalDepth = 306.325049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.401274 # Altitude Set: 61.401274 # Vehicle Depth:293.489469 # Seafloor Depth:-354.890743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.36; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 147.36; MB_Bottom_Detect_Filter_Min_Depth = 30.70; MB_Bottom_Detect_Filter_Max_Depth = 147.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.819805 meters # Minimum depth: 329.705825 meters looking forward 200.000000 meters along route # Maximum depth: 353.381171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 279.705825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845157; longitude = -118.620453; captureRadius = 10; duration = 101; initialDepth = 279.705825; finalDepth = 293.489469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.587281 # Altitude Set: 61.587281 # Vehicle Depth:279.705825 # Seafloor Depth:-341.293106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 147.81; MB_Bottom_Detect_Filter_Min_Depth = 30.79; MB_Bottom_Detect_Filter_Max_Depth = 147.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.819453 meters # Minimum depth: 315.503165 meters looking forward 200.000000 meters along route # Maximum depth: 339.946578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 265.503165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845871; longitude = -118.619761; captureRadius = 10; duration = 101; initialDepth = 265.503165; finalDepth = 279.705825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 61.749493 # Altitude Set: 61.749493 # Vehicle Depth:265.503165 # Seafloor Depth:-327.252658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.20; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 148.20; MB_Bottom_Detect_Filter_Min_Depth = 30.87; MB_Bottom_Detect_Filter_Max_Depth = 148.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.819101 meters # Minimum depth: 289.625958 meters looking forward 200.000000 meters along route # Maximum depth: 326.445523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 239.625958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846586; longitude = -118.619070; captureRadius = 10; duration = 101; initialDepth = 239.625958; finalDepth = 265.503165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.621221 # Altitude Set: 71.621221 # Vehicle Depth:239.625958 # Seafloor Depth:-311.247179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 171.89; MB_Bottom_Detect_Filter_Min_Depth = 35.81; MB_Bottom_Detect_Filter_Max_Depth = 171.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.818750 meters # Minimum depth: 274.629464 meters looking forward 200.000000 meters along route # Maximum depth: 305.961603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 224.629464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847300; longitude = -118.618378; captureRadius = 10; duration = 101; initialDepth = 224.629464; finalDepth = 239.625958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 71.621221 # Altitude Set: 71.621221 # Vehicle Depth:224.629464 # Seafloor Depth:-289.563096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.89; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 171.89; MB_Bottom_Detect_Filter_Min_Depth = 35.81; MB_Bottom_Detect_Filter_Max_Depth = 171.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.818397 meters # Minimum depth: 257.014588 meters looking forward 200.000000 meters along route # Maximum depth: 285.780748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 207.014588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848014; longitude = -118.617687; captureRadius = 10; duration = 101; initialDepth = 207.014588; finalDepth = 224.629464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.003009 # Altitude Set: 67.003009 # Vehicle Depth:207.014588 # Seafloor Depth:-274.017597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 160.81; MB_Bottom_Detect_Filter_Min_Depth = 33.50; MB_Bottom_Detect_Filter_Max_Depth = 160.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.818046 meters # Minimum depth: 239.421839 meters looking forward 200.000000 meters along route # Maximum depth: 270.548731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 189.421839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848728; longitude = -118.616996; captureRadius = 10; duration = 101; initialDepth = 189.421839; finalDepth = 207.014588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 67.003009 # Altitude Set: 67.003009 # Vehicle Depth:189.421839 # Seafloor Depth:-255.705645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.81; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 160.81; MB_Bottom_Detect_Filter_Min_Depth = 33.50; MB_Bottom_Detect_Filter_Max_Depth = 160.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.817693 meters # Minimum depth: 222.089850 meters looking forward 200.000000 meters along route # Maximum depth: 252.358919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 172.089850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849442; longitude = -118.616304; captureRadius = 10; duration = 101; initialDepth = 172.089850; finalDepth = 189.421839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 66.283806 # Altitude Set: 66.283806 # Vehicle Depth:172.08985 # Seafloor Depth:-237.727242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.08; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 159.08; MB_Bottom_Detect_Filter_Min_Depth = 33.14; MB_Bottom_Detect_Filter_Max_Depth = 159.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.817342 meters # Minimum depth: 204.914320 meters looking forward 200.000000 meters along route # Maximum depth: 235.333330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 154.914320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850156; longitude = -118.615613; captureRadius = 10; duration = 101; initialDepth = 154.914320; finalDepth = 172.089850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 65.637392 # Altitude Set: 65.637392 # Vehicle Depth:154.91432 # Seafloor Depth:-219.619853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 157.53; MB_Bottom_Detect_Filter_Min_Depth = 32.82; MB_Bottom_Detect_Filter_Max_Depth = 157.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.816990 meters # Minimum depth: 192.886014 meters looking forward 200.000000 meters along route # Maximum depth: 217.583386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 142.886014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850870; longitude = -118.614921; captureRadius = 10; duration = 101; initialDepth = 142.886014; finalDepth = 154.914320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 64.705533 # Altitude Set: 64.705533 # Vehicle Depth:142.886014 # Seafloor Depth:-202.353864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 155.29; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 155.29; MB_Bottom_Detect_Filter_Min_Depth = 32.35; MB_Bottom_Detect_Filter_Max_Depth = 155.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.355004 meters # Minimum depth: 185.295126 meters looking forward 200.000000 meters along route # Maximum depth: 201.106323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 135.295126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851585; longitude = -118.614230; captureRadius = 10; duration = 103; initialDepth = 135.295126; finalDepth = 142.886014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 59.46785 # Altitude Set: 59.46785 # Vehicle Depth:135.295126 # Seafloor Depth:-191.271835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.72; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 142.72; MB_Bottom_Detect_Filter_Min_Depth = 29.73; MB_Bottom_Detect_Filter_Max_Depth = 142.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.277920 meters # Minimum depth: 177.867265 meters looking forward 200.000000 meters along route # Maximum depth: 190.903207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 127.867265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852310; longitude = -118.613528; captureRadius = 10; duration = 100; initialDepth = 127.867265; finalDepth = 135.295126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.306143 # Altitude Set: 57.306143 # Vehicle Depth:127.867265 # Seafloor Depth:-185.173408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.53; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.65; MB_Bottom_Detect_Filter_Max_Range = 137.53; MB_Bottom_Detect_Filter_Min_Depth = 28.65; MB_Bottom_Detect_Filter_Max_Depth = 137.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.815934 meters # Minimum depth: 169.857081 meters looking forward 200.000000 meters along route # Maximum depth: 183.441356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 119.857081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853013; longitude = -118.612847; captureRadius = 10; duration = 101; initialDepth = 119.857081; finalDepth = 127.867265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.884105 # Altitude Set: 57.884105 # Vehicle Depth:119.857081 # Seafloor Depth:-177.741186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.94; MB_Bottom_Detect_Filter_Max_Range = 138.92; MB_Bottom_Detect_Filter_Min_Depth = 28.94; MB_Bottom_Detect_Filter_Max_Depth = 138.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.815583 meters # Minimum depth: 163.204776 meters looking forward 200.000000 meters along route # Maximum depth: 176.112501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 113.204776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853727; longitude = -118.612156; captureRadius = 10; duration = 101; initialDepth = 113.204776; finalDepth = 119.857081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 57.884105 # Altitude Set: 57.884105 # Vehicle Depth:113.204776 # Seafloor Depth:-169.444148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.92; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.94; MB_Bottom_Detect_Filter_Max_Range = 138.92; MB_Bottom_Detect_Filter_Min_Depth = 28.94; MB_Bottom_Detect_Filter_Max_Depth = 138.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.815230 meters # Minimum depth: 158.081779 meters looking forward 200.000000 meters along route # Maximum depth: 167.724349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 108.081779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854441; longitude = -118.611464; captureRadius = 10; duration = 101; initialDepth = 108.081779; finalDepth = 113.204776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.239372 # Altitude Set: 56.239372 # Vehicle Depth:108.081779 # Seafloor Depth:-162.918909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.97; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.12; MB_Bottom_Detect_Filter_Max_Range = 134.97; MB_Bottom_Detect_Filter_Min_Depth = 28.12; MB_Bottom_Detect_Filter_Max_Depth = 134.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.814879 meters # Minimum depth: 148.563563 meters looking forward 200.000000 meters along route # Maximum depth: 162.285103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 98.563563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855155; longitude = -118.610773; captureRadius = 10; duration = 101; initialDepth = 98.563563; finalDepth = 108.081779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.511367 # Altitude Set: 58.511367 # Vehicle Depth:98.563563 # Seafloor Depth:-157.074930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 140.43; MB_Bottom_Detect_Filter_Min_Depth = 29.26; MB_Bottom_Detect_Filter_Max_Depth = 140.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.814527 meters # Minimum depth: 139.185103 meters looking forward 200.000000 meters along route # Maximum depth: 155.897005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 89.185103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855870; longitude = -118.610082; captureRadius = 10; duration = 101; initialDepth = 89.185103; finalDepth = 98.563563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.511367 # Altitude Set: 58.511367 # Vehicle Depth:89.185103 # Seafloor Depth:-147.291641 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.43; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 140.43; MB_Bottom_Detect_Filter_Min_Depth = 29.26; MB_Bottom_Detect_Filter_Max_Depth = 140.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.814175 meters # Minimum depth: 131.107698 meters looking forward 200.000000 meters along route # Maximum depth: 146.457429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 81.107698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856584; longitude = -118.609390; captureRadius = 10; duration = 101; initialDepth = 81.107698; finalDepth = 89.185103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 58.106538 # Altitude Set: 58.106538 # Vehicle Depth:81.107698 # Seafloor Depth:-137.237786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.46; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.05; MB_Bottom_Detect_Filter_Max_Range = 139.46; MB_Bottom_Detect_Filter_Min_Depth = 29.05; MB_Bottom_Detect_Filter_Max_Depth = 139.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.040582 meters # Minimum depth: 124.758525 meters looking forward 200.000000 meters along route # Maximum depth: 136.537382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 74.758525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857298; longitude = -118.608699; captureRadius = 10; duration = 102; initialDepth = 74.758525; finalDepth = 81.107698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.130088 # Altitude Set: 56.130088 # Vehicle Depth:74.758525 # Seafloor Depth:-129.975620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.71; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.07; MB_Bottom_Detect_Filter_Max_Range = 134.71; MB_Bottom_Detect_Filter_Min_Depth = 28.07; MB_Bottom_Detect_Filter_Max_Depth = 134.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.586713 meters # Minimum depth: 117.904122 meters looking forward 200.000000 meters along route # Maximum depth: 128.646030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 67.904122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858014; longitude = -118.608006; captureRadius = 10; duration = 101; initialDepth = 67.904122; finalDepth = 74.758525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.839807 # Altitude Set: 56.839807 # Vehicle Depth:67.904122 # Seafloor Depth:-124.743929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 136.42; MB_Bottom_Detect_Filter_Min_Depth = 28.42; MB_Bottom_Detect_Filter_Max_Depth = 136.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.813120 meters # Minimum depth: 111.854025 meters looking forward 200.000000 meters along route # Maximum depth: 122.822042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 61.854025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858726; longitude = -118.607316; captureRadius = 10; duration = 101; initialDepth = 61.854025; finalDepth = 67.904122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 56.839807 # Altitude Set: 56.839807 # Vehicle Depth:61.854025 # Seafloor Depth:-117.717259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.42; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 136.42; MB_Bottom_Detect_Filter_Min_Depth = 28.42; MB_Bottom_Detect_Filter_Max_Depth = 136.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.812768 meters # Minimum depth: 106.150888 meters looking forward 200.000000 meters along route # Maximum depth: 116.390361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 56.150888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859440; longitude = -118.606625; captureRadius = 10; duration = 101; initialDepth = 56.150888; finalDepth = 61.854025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 55.863234 # Altitude Set: 55.863234 # Vehicle Depth:56.150888 # Seafloor Depth:-111.470238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.07; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 134.07; MB_Bottom_Detect_Filter_Min_Depth = 27.93; MB_Bottom_Detect_Filter_Max_Depth = 134.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.543484 meters # Minimum depth: 93.170457 meters looking forward 200.000000 meters along route # Maximum depth: 110.356761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 43.170457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860155; longitude = -118.605933; captureRadius = 10; duration = 108; initialDepth = 43.170457; finalDepth = 56.150888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 62.409998 # Altitude Set: 62.409998 # Vehicle Depth:43.170457 # Seafloor Depth:-105.580455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 149.78; MB_Bottom_Detect_Filter_Min_Depth = 31.20; MB_Bottom_Detect_Filter_Max_Depth = 149.78; 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: 62.409998 # Altitude Set: 62.409998 # Vehicle Depth:42.596285 # Seafloor Depth:-92.596285 # 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 = 149.78; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 149.78; MB_Bottom_Detect_Filter_Min_Depth = 31.20; MB_Bottom_Detect_Filter_Max_Depth = 149.78; 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: 92.596285 meters looking forward 200.000000 meters along route # Maximum depth: 110.356761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 950.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 60.000000 meters # Behavior depth of 42.596285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860916; longitude = -118.605196; captureRadius = 10; duration = 500; initialDepth = 42.596285; finalDepth = 43.170457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 219.828418; 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 = 219.828418; 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; } # ####################################################### #######################################################