# 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: Axial2008_1v6.rte # Mission File: Axial2008_1v6.cfg # Distance: 73136.068915 (m) # Estimated Time: 49000 (s) 13.611 (hr) # Abort Time: 61043 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1956 (s) # Way Points: 33 # Route Points: 728 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Subbottom disabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1605.601589 (m) # Abort Vehicle Depth: 1630.601589 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -129.989284 45.974480 -1478.916077 0.000000 3 # 1 -129.988897 45.963278 -1468.190582 1245.063223 3 # 2 -129.981393 45.951370 -1516.387665 2690.366927 1 # 3 -129.973523 45.906424 -1564.883911 7721.608247 4 # 4 -129.971200 45.906379 -1574.475220 7901.868532 3 # 5 -129.979350 45.951985 -1515.666321 13008.550326 1 # 6 -129.991542 45.971331 -1475.238586 15356.620666 4 # 7 -129.989607 45.971916 -1479.002808 15520.024891 3 # 8 -129.977221 45.952480 -1519.582642 17883.314885 1 # 9 -129.969071 45.906424 -1583.508026 23039.615351 4 # 10 -129.966878 45.906469 -1592.356110 23209.795636 3 # 11 -129.975264 45.953080 -1523.531555 28429.550673 1 # 12 -129.987672 45.972546 -1484.971588 30796.574394 4 # 13 -129.985736 45.973131 -1486.127411 30960.046609 3 # 14 -129.973092 45.953559 -1524.671844 33345.286847 1 # 15 -129.964685 45.906514 -1603.476929 38613.092285 4 # 16 -129.962319 45.906544 -1611.645081 38796.648260 3 # 17 -129.970964 45.953919 -1529.054596 44103.138728 1 # 18 -129.983672 45.973805 -1487.236664 46522.242163 4 # 19 -129.981651 45.974405 -1492.021881 46692.419661 3 # 20 -129.968641 45.954504 -1533.554352 49122.654367 1 # 21 -129.960040 45.906559 -1625.393188 54491.551251 4 # 22 -129.957911 45.906604 -1628.026001 54656.768773 3 # 23 -129.966835 45.954999 -1536.938202 60078.420384 1 # 24 -129.979586 45.974990 -1499.902679 62509.528141 4 # 25 -129.977522 45.975665 -1498.652405 62686.146832 3 # 26 -129.972684 45.968152 -1524.666178 63601.282914 1 # 27 -129.983414 45.951355 -1510.037435 65644.483634 4 # 28 -129.964061 45.943122 -1536.142578 67401.513353 3 # 29 -129.980963 45.932054 -1514.475423 69198.518742 3 # 30 -129.980511 45.928544 -1513.366374 69590.018357 1 # 31 -129.958449 45.921571 -1577.738281 71468.083075 1 # 32 -129.955739 45.906679 -1630.582682 73136.068915 1 # # A total of 728 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 73136.068915 #define MISSION_TIME 49000 #define MISSION_TIMEOUT 53100 #define DEPTH_MAX 1605.601589 #define DEPTH_ABORT 1630.601589 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 1428.916077 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #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 = 1956; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # 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 32 # Segment length 136.907664 meters # Minimum depth: 1630.582682 meters looking forward 0.000000 meters along route # Maximum depth: 1630.582682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.582682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906679; longitude = -129.955739; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1590.601589; finalDepth = 1590.582682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1590.582682 # Seafloor depth:-1630.582682 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1630.601589 meters looking forward 0.000000 meters along route # Maximum depth: 1630.601589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.601589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907159; longitude = -129.955827; captureRadius = 10; duration = 136; initialDepth = 1590.132804; finalDepth = 1590.601589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1590.601589 # Seafloor depth:-1630.601589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1630.132804 meters looking forward 0.000000 meters along route # Maximum depth: 1630.132804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.132804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908058; longitude = -129.955990; captureRadius = 10; duration = 136; initialDepth = 1584.984297; finalDepth = 1590.132804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1590.132804 # Seafloor depth:-1630.132804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1624.984297 meters looking forward 0.000000 meters along route # Maximum depth: 1624.984297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.984297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908958; longitude = -129.956154; captureRadius = 10; duration = 136; initialDepth = 1582.904048; finalDepth = 1584.984297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1584.984297 # Seafloor depth:-1624.984297 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1622.904048 meters looking forward 0.000000 meters along route # Maximum depth: 1622.904048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.904048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909858; longitude = -129.956318; captureRadius = 10; duration = 136; initialDepth = 1578.831281; finalDepth = 1582.904048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1582.904048 # Seafloor depth:-1622.904048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1618.831281 meters looking forward 0.000000 meters along route # Maximum depth: 1618.831281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.831281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910758; longitude = -129.956481; captureRadius = 10; duration = 136; initialDepth = 1574.765981; finalDepth = 1578.831281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1578.831281 # Seafloor depth:-1618.831281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1614.765981 meters looking forward 0.000000 meters along route # Maximum depth: 1614.765981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.765981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911658; longitude = -129.956645; captureRadius = 10; duration = 136; initialDepth = 1571.641809; finalDepth = 1574.765981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1574.765981 # Seafloor depth:-1614.765981 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1611.641809 meters looking forward 0.000000 meters along route # Maximum depth: 1611.641809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.641809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912558; longitude = -129.956809; captureRadius = 10; duration = 136; initialDepth = 1569.456122; finalDepth = 1571.641809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1571.641809 # Seafloor depth:-1611.641809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1609.456122 meters looking forward 0.000000 meters along route # Maximum depth: 1609.456122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.456122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913457; longitude = -129.956973; captureRadius = 10; duration = 136; initialDepth = 1568.581888; finalDepth = 1569.456122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1569.456122 # Seafloor depth:-1609.456122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1608.581888 meters looking forward 0.000000 meters along route # Maximum depth: 1608.581888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.581888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914357; longitude = -129.957136; captureRadius = 10; duration = 136; initialDepth = 1564.177794; finalDepth = 1568.581888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1568.581888 # Seafloor depth:-1608.581888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1604.177794 meters looking forward 0.000000 meters along route # Maximum depth: 1604.177794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.177794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915257; longitude = -129.957300; captureRadius = 10; duration = 136; initialDepth = 1562.548245; finalDepth = 1564.177794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1564.177794 # Seafloor depth:-1604.177794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1602.548245 meters looking forward 0.000000 meters along route # Maximum depth: 1602.548245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.548245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916157; longitude = -129.957464; captureRadius = 10; duration = 136; initialDepth = 1557.454840; finalDepth = 1562.548245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1562.548245 # Seafloor depth:-1602.548245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1597.454840 meters looking forward 0.000000 meters along route # Maximum depth: 1597.454840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1557.454840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917057; longitude = -129.957627; captureRadius = 10; duration = 136; initialDepth = 1552.725416; finalDepth = 1557.454840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1557.45484 # Seafloor depth:-1597.454840 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1592.725416 meters looking forward 0.000000 meters along route # Maximum depth: 1592.725416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.725416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917957; longitude = -129.957791; captureRadius = 10; duration = 136; initialDepth = 1547.473118; finalDepth = 1552.725416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.725416 # Seafloor depth:-1592.725416 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1587.473118 meters looking forward 0.000000 meters along route # Maximum depth: 1587.473118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.473118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918856; longitude = -129.957955; captureRadius = 10; duration = 136; initialDepth = 1545.205365; finalDepth = 1547.473118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1547.473118 # Seafloor depth:-1587.473118 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1585.205365 meters looking forward 0.000000 meters along route # Maximum depth: 1585.205365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.205365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919756; longitude = -129.958119; captureRadius = 10; duration = 136; initialDepth = 1546.709820; finalDepth = 1545.205365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1545.205365 # Seafloor depth:-1585.205365 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.907664 meters # Minimum depth: 1586.709820 meters looking forward 0.000000 meters along route # Maximum depth: 1586.709820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.709820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920656; longitude = -129.958282; captureRadius = 10; duration = 136; initialDepth = 1537.738281; finalDepth = 1546.709820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1546.70982 # Seafloor depth:-1586.709820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 136.907664 meters # Minimum depth: 1577.738281 meters looking forward 0.000000 meters along route # Maximum depth: 1577.738281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.738281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921571; longitude = -129.958449; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1537.222738; finalDepth = 1537.738281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.738281 # Seafloor depth:-1577.738281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1577.222738 meters looking forward 0.000000 meters along route # Maximum depth: 1577.222738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.222738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921659; longitude = -129.958728; captureRadius = 10; duration = 136; initialDepth = 1533.426586; finalDepth = 1537.222738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.222738 # Seafloor depth:-1577.222738 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1573.426586 meters looking forward 0.000000 meters along route # Maximum depth: 1573.426586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.426586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922051; longitude = -129.959967; captureRadius = 10; duration = 136; initialDepth = 1525.921237; finalDepth = 1533.426586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.426586 # Seafloor depth:-1573.426586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1565.921237 meters looking forward 0.000000 meters along route # Maximum depth: 1565.921237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.921237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922434; longitude = -129.961180; captureRadius = 10; duration = 136; initialDepth = 1517.718523; finalDepth = 1525.921237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.921237 # Seafloor depth:-1565.921237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1557.718523 meters looking forward 0.000000 meters along route # Maximum depth: 1557.718523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.718523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922821; longitude = -129.962405; captureRadius = 10; duration = 136; initialDepth = 1511.825974; finalDepth = 1517.718523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.718523 # Seafloor depth:-1557.718523 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1551.825974 meters looking forward 0.000000 meters along route # Maximum depth: 1551.825974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.825974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923209; longitude = -129.963631; captureRadius = 10; duration = 136; initialDepth = 1509.422789; finalDepth = 1511.825974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.825974 # Seafloor depth:-1551.825974 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1549.422789 meters looking forward 0.000000 meters along route # Maximum depth: 1549.422789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.422789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923580; longitude = -129.964806; captureRadius = 10; duration = 136; initialDepth = 1507.388363; finalDepth = 1509.422789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.422789 # Seafloor depth:-1549.422789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1547.388363 meters looking forward 0.000000 meters along route # Maximum depth: 1547.388363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.388363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923963; longitude = -129.966018; captureRadius = 10; duration = 136; initialDepth = 1506.145145; finalDepth = 1507.388363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.388363 # Seafloor depth:-1547.388363 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1546.145145 meters looking forward 0.000000 meters along route # Maximum depth: 1546.145145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.145145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924351; longitude = -129.967244; captureRadius = 10; duration = 136; initialDepth = 1504.383135; finalDepth = 1506.145145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.145145 # Seafloor depth:-1546.145145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1544.383135 meters looking forward 0.000000 meters along route # Maximum depth: 1544.383135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.383135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924738; longitude = -129.968469; captureRadius = 10; duration = 136; initialDepth = 1502.420249; finalDepth = 1504.383135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.383135 # Seafloor depth:-1544.383135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1542.420249 meters looking forward 0.000000 meters along route # Maximum depth: 1542.420249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.420249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925110; longitude = -129.969646; captureRadius = 10; duration = 136; initialDepth = 1500.067767; finalDepth = 1502.420249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.420249 # Seafloor depth:-1542.420249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1540.067767 meters looking forward 0.000000 meters along route # Maximum depth: 1540.067767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.067767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925493; longitude = -129.970856; captureRadius = 10; duration = 136; initialDepth = 1497.860951; finalDepth = 1500.067767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.067767 # Seafloor depth:-1540.067767 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1537.860951 meters looking forward 0.000000 meters along route # Maximum depth: 1537.860951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.860951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925880; longitude = -129.972082; captureRadius = 10; duration = 136; initialDepth = 1495.682048; finalDepth = 1497.860951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.860951 # Seafloor depth:-1537.860951 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1535.682048 meters looking forward 0.000000 meters along route # Maximum depth: 1535.682048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.682048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926267; longitude = -129.973308; captureRadius = 10; duration = 136; initialDepth = 1493.867164; finalDepth = 1495.682048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.682048 # Seafloor depth:-1535.682048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1533.867164 meters looking forward 0.000000 meters along route # Maximum depth: 1533.867164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.867164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926640; longitude = -129.974485; captureRadius = 10; duration = 136; initialDepth = 1493.155914; finalDepth = 1493.867164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.867164 # Seafloor depth:-1533.867164 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1533.155914 meters looking forward 0.000000 meters along route # Maximum depth: 1533.155914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.155914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927022; longitude = -129.975694; captureRadius = 10; duration = 136; initialDepth = 1489.320120; finalDepth = 1493.155914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.155914 # Seafloor depth:-1533.155914 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1529.320120 meters looking forward 0.000000 meters along route # Maximum depth: 1529.320120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.320120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927409; longitude = -129.976920; captureRadius = 10; duration = 136; initialDepth = 1484.155209; finalDepth = 1489.320120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.32012 # Seafloor depth:-1529.320120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1524.155209 meters looking forward 0.000000 meters along route # Maximum depth: 1524.155209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.155209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927797; longitude = -129.978146; captureRadius = 10; duration = 136; initialDepth = 1477.348259; finalDepth = 1484.155209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.155209 # Seafloor depth:-1524.155209 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.907664 meters # Minimum depth: 1517.348259 meters looking forward 0.000000 meters along route # Maximum depth: 1517.348259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.348259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928169; longitude = -129.979325; captureRadius = 10; duration = 136; initialDepth = 1473.366374; finalDepth = 1477.348259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.348259 # Seafloor depth:-1517.348259 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 136.907664 meters # Minimum depth: 1513.366374 meters looking forward 0.000000 meters along route # Maximum depth: 1513.366374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.366374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928544; longitude = -129.980511; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1469.448441; finalDepth = 1473.366374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.366374 # Seafloor depth:-1513.366374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.907664 meters # Minimum depth: 1509.448441 meters looking forward 0.000000 meters along route # Maximum depth: 1509.448441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.448441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929339; longitude = -129.980613; captureRadius = 10; duration = 136; initialDepth = 1467.143600; finalDepth = 1469.448441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.448441 # Seafloor depth:-1509.448441 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.907664 meters # Minimum depth: 1507.143600 meters looking forward 0.000000 meters along route # Maximum depth: 1507.143600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.143600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930239; longitude = -129.980729; captureRadius = 10; duration = 136; initialDepth = 1475.248492; finalDepth = 1467.143600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.1436 # Seafloor depth:-1507.143600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.907664 meters # Minimum depth: 1515.248492 meters looking forward 0.000000 meters along route # Maximum depth: 1515.248492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.248492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931139; longitude = -129.980845; captureRadius = 10; duration = 136; initialDepth = 1474.475423; finalDepth = 1475.248492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.248492 # Seafloor depth:-1515.248492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 136.907664 meters # Minimum depth: 1514.475423 meters looking forward 0.000000 meters along route # Maximum depth: 1514.475423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.475423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932054; longitude = -129.980963; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1475.039899; finalDepth = 1474.475423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.475423 # Seafloor depth:-1514.475423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1515.039899 meters looking forward 0.000000 meters along route # Maximum depth: 1515.039899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.039899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932399; longitude = -129.980436; captureRadius = 10; duration = 136; initialDepth = 1476.444303; finalDepth = 1475.039899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.039899 # Seafloor depth:-1515.039899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1516.444303 meters looking forward 0.000000 meters along route # Maximum depth: 1516.444303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.444303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933029; longitude = -129.979474; captureRadius = 10; duration = 136; initialDepth = 1482.451370; finalDepth = 1476.444303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.444303 # Seafloor depth:-1516.444303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1522.451370 meters looking forward 0.000000 meters along route # Maximum depth: 1522.451370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.451370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933658; longitude = -129.978512; captureRadius = 10; duration = 136; initialDepth = 1482.516402; finalDepth = 1482.451370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.45137 # Seafloor depth:-1522.451370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1522.516402 meters looking forward 0.000000 meters along route # Maximum depth: 1522.516402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.516402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934288; longitude = -129.977550; captureRadius = 10; duration = 136; initialDepth = 1482.771343; finalDepth = 1482.516402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.516402 # Seafloor depth:-1522.516402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1522.771343 meters looking forward 0.000000 meters along route # Maximum depth: 1522.771343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.771343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934918; longitude = -129.976588; captureRadius = 10; duration = 136; initialDepth = 1482.558915; finalDepth = 1482.771343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.771343 # Seafloor depth:-1522.771343 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1522.558915 meters looking forward 0.000000 meters along route # Maximum depth: 1522.558915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.558915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935548; longitude = -129.975627; captureRadius = 10; duration = 136; initialDepth = 1482.051208; finalDepth = 1482.558915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.558915 # Seafloor depth:-1522.558915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1522.051208 meters looking forward 0.000000 meters along route # Maximum depth: 1522.051208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.051208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936180; longitude = -129.974662; captureRadius = 10; duration = 136; initialDepth = 1484.149309; finalDepth = 1482.051208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.051208 # Seafloor depth:-1522.051208 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1524.149309 meters looking forward 0.000000 meters along route # Maximum depth: 1524.149309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.149309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936813; longitude = -129.973695; captureRadius = 10; duration = 136; initialDepth = 1486.818454; finalDepth = 1484.149309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.149309 # Seafloor depth:-1524.149309 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1526.818454 meters looking forward 0.000000 meters along route # Maximum depth: 1526.818454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.818454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937447; longitude = -129.972727; captureRadius = 10; duration = 136; initialDepth = 1487.837475; finalDepth = 1486.818454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.818454 # Seafloor depth:-1526.818454 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1527.837475 meters looking forward 0.000000 meters along route # Maximum depth: 1527.837475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.837475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938080; longitude = -129.971759; captureRadius = 10; duration = 136; initialDepth = 1487.771076; finalDepth = 1487.837475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.837475 # Seafloor depth:-1527.837475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1527.771076 meters looking forward 0.000000 meters along route # Maximum depth: 1527.771076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.771076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938697; longitude = -129.970817; captureRadius = 10; duration = 136; initialDepth = 1487.153437; finalDepth = 1487.771076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.771076 # Seafloor depth:-1527.771076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1527.153437 meters looking forward 0.000000 meters along route # Maximum depth: 1527.153437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.153437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939327; longitude = -129.969855; captureRadius = 10; duration = 136; initialDepth = 1490.403795; finalDepth = 1487.153437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.153437 # Seafloor depth:-1527.153437 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1530.403795 meters looking forward 0.000000 meters along route # Maximum depth: 1530.403795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.403795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939957; longitude = -129.968893; captureRadius = 10; duration = 136; initialDepth = 1494.661606; finalDepth = 1490.403795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.403795 # Seafloor depth:-1530.403795 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1534.661606 meters looking forward 0.000000 meters along route # Maximum depth: 1534.661606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.661606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940587; longitude = -129.967932; captureRadius = 10; duration = 136; initialDepth = 1494.671064; finalDepth = 1494.661606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.661606 # Seafloor depth:-1534.661606 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1534.671064 meters looking forward 0.000000 meters along route # Maximum depth: 1534.671064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.671064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941217; longitude = -129.966970; captureRadius = 10; duration = 136; initialDepth = 1495.692505; finalDepth = 1494.671064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.671064 # Seafloor depth:-1534.671064 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1535.692505 meters looking forward 0.000000 meters along route # Maximum depth: 1535.692505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.692505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941847; longitude = -129.966008; captureRadius = 10; duration = 136; initialDepth = 1493.891463; finalDepth = 1495.692505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.692505 # Seafloor depth:-1535.692505 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.907664 meters # Minimum depth: 1533.891463 meters looking forward 0.000000 meters along route # Maximum depth: 1533.891463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.891463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942477; longitude = -129.965046; captureRadius = 10; duration = 136; initialDepth = 1496.142578; finalDepth = 1493.891463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.891463 # Seafloor depth:-1533.891463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 136.907664 meters # Minimum depth: 1536.142578 meters looking forward 0.000000 meters along route # Maximum depth: 1536.142578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.142578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943122; longitude = -129.964061; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1492.827204; finalDepth = 1496.142578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.142578 # Seafloor depth:-1536.142578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1532.827204 meters looking forward 0.000000 meters along route # Maximum depth: 1532.827204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.827204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943515; longitude = -129.964986; captureRadius = 10; duration = 136; initialDepth = 1493.603432; finalDepth = 1492.827204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.827204 # Seafloor depth:-1532.827204 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1533.603432 meters looking forward 0.000000 meters along route # Maximum depth: 1533.603432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.603432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944006; longitude = -129.966141; captureRadius = 10; duration = 136; initialDepth = 1494.566055; finalDepth = 1493.603432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.603432 # Seafloor depth:-1533.603432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1534.566055 meters looking forward 0.000000 meters along route # Maximum depth: 1534.566055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.566055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944475; longitude = -129.967244; captureRadius = 10; duration = 136; initialDepth = 1492.474556; finalDepth = 1494.566055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.566055 # Seafloor depth:-1534.566055 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1532.474556 meters looking forward 0.000000 meters along route # Maximum depth: 1532.474556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.474556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944969; longitude = -129.968405; captureRadius = 10; duration = 136; initialDepth = 1492.036463; finalDepth = 1492.474556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.474556 # Seafloor depth:-1532.474556 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1532.036463 meters looking forward 0.000000 meters along route # Maximum depth: 1532.036463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.036463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945463; longitude = -129.969566; captureRadius = 10; duration = 136; initialDepth = 1491.820837; finalDepth = 1492.036463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.036463 # Seafloor depth:-1532.036463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1531.820837 meters looking forward 0.000000 meters along route # Maximum depth: 1531.820837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.820837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945957; longitude = -129.970727; captureRadius = 10; duration = 136; initialDepth = 1490.856011; finalDepth = 1491.820837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.820837 # Seafloor depth:-1531.820837 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1530.856011 meters looking forward 0.000000 meters along route # Maximum depth: 1530.856011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.856011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946451; longitude = -129.971888; captureRadius = 10; duration = 136; initialDepth = 1486.862703; finalDepth = 1490.856011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.856011 # Seafloor depth:-1530.856011 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1526.862703 meters looking forward 0.000000 meters along route # Maximum depth: 1526.862703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.862703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946945; longitude = -129.973049; captureRadius = 10; duration = 136; initialDepth = 1489.665581; finalDepth = 1486.862703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.862703 # Seafloor depth:-1526.862703 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1529.665581 meters looking forward 0.000000 meters along route # Maximum depth: 1529.665581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.665581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947439; longitude = -129.974211; captureRadius = 10; duration = 136; initialDepth = 1485.051872; finalDepth = 1489.665581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.665581 # Seafloor depth:-1529.665581 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1525.051872 meters looking forward 0.000000 meters along route # Maximum depth: 1525.051872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.051872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947933; longitude = -129.975372; captureRadius = 10; duration = 136; initialDepth = 1479.075146; finalDepth = 1485.051872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.051872 # Seafloor depth:-1525.051872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1519.075146 meters looking forward 0.000000 meters along route # Maximum depth: 1519.075146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.075146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948427; longitude = -129.976533; captureRadius = 10; duration = 136; initialDepth = 1480.043503; finalDepth = 1479.075146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.075146 # Seafloor depth:-1519.075146 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1520.043503 meters looking forward 0.000000 meters along route # Maximum depth: 1520.043503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.043503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948921; longitude = -129.977694; captureRadius = 10; duration = 136; initialDepth = 1478.167796; finalDepth = 1480.043503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.043503 # Seafloor depth:-1520.043503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1518.167796 meters looking forward 0.000000 meters along route # Maximum depth: 1518.167796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.167796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949415; longitude = -129.978855; captureRadius = 10; duration = 136; initialDepth = 1476.176731; finalDepth = 1478.167796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.167796 # Seafloor depth:-1518.167796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1516.176731 meters looking forward 0.000000 meters along route # Maximum depth: 1516.176731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.176731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949909; longitude = -129.980017; captureRadius = 10; duration = 136; initialDepth = 1476.348991; finalDepth = 1476.176731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.176731 # Seafloor depth:-1516.176731 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1516.348991 meters looking forward 0.000000 meters along route # Maximum depth: 1516.348991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.348991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950395; longitude = -129.981158; captureRadius = 10; duration = 136; initialDepth = 1477.093645; finalDepth = 1476.348991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.348991 # Seafloor depth:-1516.348991 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.907664 meters # Minimum depth: 1517.093645 meters looking forward 0.000000 meters along route # Maximum depth: 1517.093645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.093645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950870; longitude = -129.982274; captureRadius = 10; duration = 136; initialDepth = 1470.037435; finalDepth = 1477.093645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.093645 # Seafloor depth:-1517.093645 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 136.907664 meters # Minimum depth: 1510.037435 meters looking forward 0.000000 meters along route # Maximum depth: 1510.037435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.037435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951355; longitude = -129.983414; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1470.907195; finalDepth = 1470.037435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.037435 # Seafloor depth:-1510.037435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1510.907195 meters looking forward 0.000000 meters along route # Maximum depth: 1510.907195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.907195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952060; longitude = -129.982964; captureRadius = 10; duration = 136; initialDepth = 1474.874221; finalDepth = 1470.907195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.907195 # Seafloor depth:-1510.907195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1514.874221 meters looking forward 0.000000 meters along route # Maximum depth: 1514.874221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.874221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952915; longitude = -129.982418; captureRadius = 10; duration = 136; initialDepth = 1474.159745; finalDepth = 1474.874221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.874221 # Seafloor depth:-1514.874221 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1514.159745 meters looking forward 0.000000 meters along route # Maximum depth: 1514.159745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.159745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953745; longitude = -129.981887; captureRadius = 10; duration = 136; initialDepth = 1476.233032; finalDepth = 1474.159745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.159745 # Seafloor depth:-1514.159745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1516.233032 meters looking forward 0.000000 meters along route # Maximum depth: 1516.233032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.233032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954579; longitude = -129.981354; captureRadius = 10; duration = 136; initialDepth = 1476.601911; finalDepth = 1476.233032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.233032 # Seafloor depth:-1516.233032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1516.601911 meters looking forward 0.000000 meters along route # Maximum depth: 1516.601911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.601911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955434; longitude = -129.980808; captureRadius = 10; duration = 136; initialDepth = 1477.733372; finalDepth = 1476.601911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.601911 # Seafloor depth:-1516.601911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1517.733372 meters looking forward 0.000000 meters along route # Maximum depth: 1517.733372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.733372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956269; longitude = -129.980275; captureRadius = 10; duration = 136; initialDepth = 1479.734886; finalDepth = 1477.733372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.733372 # Seafloor depth:-1517.733372 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1519.734886 meters looking forward 0.000000 meters along route # Maximum depth: 1519.734886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.734886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957099; longitude = -129.979745; captureRadius = 10; duration = 136; initialDepth = 1478.977670; finalDepth = 1479.734886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.734886 # Seafloor depth:-1519.734886 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1518.977670 meters looking forward 0.000000 meters along route # Maximum depth: 1518.977670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.977670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957954; longitude = -129.979199; captureRadius = 10; duration = 136; initialDepth = 1479.722653; finalDepth = 1478.977670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.97767 # Seafloor depth:-1518.977670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1519.722653 meters looking forward 0.000000 meters along route # Maximum depth: 1519.722653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.722653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958794; longitude = -129.978662; captureRadius = 10; duration = 136; initialDepth = 1481.403972; finalDepth = 1479.722653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.722653 # Seafloor depth:-1519.722653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1521.403972 meters looking forward 0.000000 meters along route # Maximum depth: 1521.403972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.403972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959618; longitude = -129.978135; captureRadius = 10; duration = 136; initialDepth = 1482.449016; finalDepth = 1481.403972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.403972 # Seafloor depth:-1521.403972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1522.449016 meters looking forward 0.000000 meters along route # Maximum depth: 1522.449016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.449016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960473; longitude = -129.977589; captureRadius = 10; duration = 136; initialDepth = 1484.659023; finalDepth = 1482.449016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.449016 # Seafloor depth:-1522.449016 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1524.659023 meters looking forward 0.000000 meters along route # Maximum depth: 1524.659023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.659023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961328; longitude = -129.977043; captureRadius = 10; duration = 136; initialDepth = 1485.999888; finalDepth = 1484.659023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.659023 # Seafloor depth:-1524.659023 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1525.999888 meters looking forward 0.000000 meters along route # Maximum depth: 1525.999888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.999888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962183; longitude = -129.976497; captureRadius = 10; duration = 136; initialDepth = 1487.141224; finalDepth = 1485.999888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.999888 # Seafloor depth:-1525.999888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1527.141224 meters looking forward 0.000000 meters along route # Maximum depth: 1527.141224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.141224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963038; longitude = -129.975951; captureRadius = 10; duration = 136; initialDepth = 1486.607308; finalDepth = 1487.141224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.141224 # Seafloor depth:-1527.141224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1526.607308 meters looking forward 0.000000 meters along route # Maximum depth: 1526.607308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.607308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963892; longitude = -129.975405; captureRadius = 10; duration = 136; initialDepth = 1488.435194; finalDepth = 1486.607308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.607308 # Seafloor depth:-1526.607308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1528.435194 meters looking forward 0.000000 meters along route # Maximum depth: 1528.435194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.435194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964752; longitude = -129.974856; captureRadius = 10; duration = 136; initialDepth = 1486.584804; finalDepth = 1488.435194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.435194 # Seafloor depth:-1528.435194 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1526.584804 meters looking forward 0.000000 meters along route # Maximum depth: 1526.584804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.584804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965602; longitude = -129.974313; captureRadius = 10; duration = 136; initialDepth = 1485.539048; finalDepth = 1486.584804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.584804 # Seafloor depth:-1526.584804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1525.539048 meters looking forward 0.000000 meters along route # Maximum depth: 1525.539048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.539048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966469; longitude = -129.973759; captureRadius = 10; duration = 136; initialDepth = 1483.915247; finalDepth = 1485.539048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.539048 # Seafloor depth:-1525.539048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.907664 meters # Minimum depth: 1523.915247 meters looking forward 0.000000 meters along route # Maximum depth: 1523.915247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.915247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967312; longitude = -129.973220; captureRadius = 10; duration = 136; initialDepth = 1484.666178; finalDepth = 1483.915247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.915247 # Seafloor depth:-1523.915247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 136.907664 meters # Minimum depth: 1524.666178 meters looking forward 0.000000 meters along route # Maximum depth: 1524.666178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.666178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968152; longitude = -129.972684; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1483.231512; finalDepth = 1484.666178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.666178 # Seafloor depth:-1524.666178 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1523.231512 meters looking forward 0.000000 meters along route # Maximum depth: 1523.231512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.231512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968519; longitude = -129.972920; captureRadius = 10; duration = 136; initialDepth = 1482.164103; finalDepth = 1483.231512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.231512 # Seafloor depth:-1523.231512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1522.164103 meters looking forward 0.000000 meters along route # Maximum depth: 1522.164103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.164103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969421; longitude = -129.973501; captureRadius = 10; duration = 136; initialDepth = 1481.519271; finalDepth = 1482.164103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.164103 # Seafloor depth:-1522.164103 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1521.519271 meters looking forward 0.000000 meters along route # Maximum depth: 1521.519271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.519271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970322; longitude = -129.974082; captureRadius = 10; duration = 136; initialDepth = 1482.104380; finalDepth = 1481.519271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.519271 # Seafloor depth:-1521.519271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1522.104380 meters looking forward 0.000000 meters along route # Maximum depth: 1522.104380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.104380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971224; longitude = -129.974662; captureRadius = 10; duration = 136; initialDepth = 1482.704749; finalDepth = 1482.104380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.10438 # Seafloor depth:-1522.104380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1522.704749 meters looking forward 0.000000 meters along route # Maximum depth: 1522.704749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.704749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972125; longitude = -129.975243; captureRadius = 10; duration = 136; initialDepth = 1483.896567; finalDepth = 1482.704749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.704749 # Seafloor depth:-1522.704749 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1523.896567 meters looking forward 0.000000 meters along route # Maximum depth: 1523.896567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.896567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973027; longitude = -129.975823; captureRadius = 10; duration = 136; initialDepth = 1480.106941; finalDepth = 1483.896567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.896567 # Seafloor depth:-1523.896567 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1520.106941 meters looking forward 0.000000 meters along route # Maximum depth: 1520.106941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.106941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973929; longitude = -129.976404; captureRadius = 10; duration = 136; initialDepth = 1459.207841; finalDepth = 1480.106941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.106941 # Seafloor depth:-1520.106941 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 136.907664 meters # Minimum depth: 1499.207841 meters looking forward 0.000000 meters along route # Maximum depth: 1499.207841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.207841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974830; longitude = -129.976985; captureRadius = 10; duration = 136; initialDepth = 1458.652405; finalDepth = 1459.207841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.207841 # Seafloor depth:-1499.207841 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 136.907664 meters # Minimum depth: 1498.652405 meters looking forward 0.000000 meters along route # Maximum depth: 1498.652405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.652405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975665; longitude = -129.977522; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1460.368137; finalDepth = 1458.652405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.652405 # Seafloor depth:-1498.652405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.907664 meters # Minimum depth: 1500.368137 meters looking forward 0.000000 meters along route # Maximum depth: 1500.368137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.368137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975377; longitude = -129.978404; captureRadius = 10; duration = 136; initialDepth = 1459.902679; finalDepth = 1460.368137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.368137 # Seafloor depth:-1500.368137 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 136.907664 meters # Minimum depth: 1499.902679 meters looking forward 0.000000 meters along route # Maximum depth: 1499.902679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.902679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974990; longitude = -129.979586; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1466.888164; finalDepth = 1459.902679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.902679 # Seafloor depth:-1499.902679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1506.888164 meters looking forward 0.000000 meters along route # Maximum depth: 1506.888164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.888164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974451; longitude = -129.979242; captureRadius = 10; duration = 136; initialDepth = 1473.577035; finalDepth = 1466.888164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.888164 # Seafloor depth:-1506.888164 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1513.577035 meters looking forward 0.000000 meters along route # Maximum depth: 1513.577035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.577035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973611; longitude = -129.978706; captureRadius = 10; duration = 136; initialDepth = 1474.945548; finalDepth = 1473.577035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.577035 # Seafloor depth:-1513.577035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1514.945548 meters looking forward 0.000000 meters along route # Maximum depth: 1514.945548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.945548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972756; longitude = -129.978161; captureRadius = 10; duration = 136; initialDepth = 1472.754313; finalDepth = 1474.945548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.945548 # Seafloor depth:-1514.945548 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1512.754313 meters looking forward 0.000000 meters along route # Maximum depth: 1512.754313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.754313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971923; longitude = -129.977630; captureRadius = 10; duration = 136; initialDepth = 1472.617154; finalDepth = 1472.754313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.754313 # Seafloor depth:-1512.754313 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1512.617154 meters looking forward 0.000000 meters along route # Maximum depth: 1512.617154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.617154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971091; longitude = -129.977099; captureRadius = 10; duration = 136; initialDepth = 1477.385230; finalDepth = 1472.617154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.617154 # Seafloor depth:-1512.617154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1517.385230 meters looking forward 0.000000 meters along route # Maximum depth: 1517.385230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.385230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970236; longitude = -129.976554; captureRadius = 10; duration = 136; initialDepth = 1479.038232; finalDepth = 1477.385230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.38523 # Seafloor depth:-1517.385230 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1519.038232 meters looking forward 0.000000 meters along route # Maximum depth: 1519.038232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.038232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969394; longitude = -129.976017; captureRadius = 10; duration = 136; initialDepth = 1479.728000; finalDepth = 1479.038232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.038232 # Seafloor depth:-1519.038232 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1519.728000 meters looking forward 0.000000 meters along route # Maximum depth: 1519.728000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.728000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968572; longitude = -129.975492; captureRadius = 10; duration = 136; initialDepth = 1481.561963; finalDepth = 1479.728000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.728 # Seafloor depth:-1519.728000 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1521.561963 meters looking forward 0.000000 meters along route # Maximum depth: 1521.561963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.561963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967717; longitude = -129.974947; captureRadius = 10; duration = 136; initialDepth = 1482.498239; finalDepth = 1481.561963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.561963 # Seafloor depth:-1521.561963 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1522.498239 meters looking forward 0.000000 meters along route # Maximum depth: 1522.498239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.498239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966862; longitude = -129.974402; captureRadius = 10; duration = 136; initialDepth = 1485.368045; finalDepth = 1482.498239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.498239 # Seafloor depth:-1522.498239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1525.368045 meters looking forward 0.000000 meters along route # Maximum depth: 1525.368045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.368045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966007; longitude = -129.973856; captureRadius = 10; duration = 136; initialDepth = 1491.434828; finalDepth = 1485.368045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.368045 # Seafloor depth:-1525.368045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1531.434828 meters looking forward 0.000000 meters along route # Maximum depth: 1531.434828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.434828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965147; longitude = -129.973308; captureRadius = 10; duration = 136; initialDepth = 1494.190973; finalDepth = 1491.434828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.434828 # Seafloor depth:-1531.434828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1534.190973 meters looking forward 0.000000 meters along route # Maximum depth: 1534.190973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.190973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964297; longitude = -129.972766; captureRadius = 10; duration = 136; initialDepth = 1493.508696; finalDepth = 1494.190973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.190973 # Seafloor depth:-1534.190973 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.508696 meters looking forward 0.000000 meters along route # Maximum depth: 1533.508696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.508696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963443; longitude = -129.972221; captureRadius = 10; duration = 136; initialDepth = 1493.577475; finalDepth = 1493.508696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.508696 # Seafloor depth:-1533.508696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.577475 meters looking forward 0.000000 meters along route # Maximum depth: 1533.577475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.577475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962618; longitude = -129.971695; captureRadius = 10; duration = 136; initialDepth = 1493.484006; finalDepth = 1493.577475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.577475 # Seafloor depth:-1533.577475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.484006 meters looking forward 0.000000 meters along route # Maximum depth: 1533.484006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.484006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961778; longitude = -129.971159; captureRadius = 10; duration = 136; initialDepth = 1493.325558; finalDepth = 1493.484006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.484006 # Seafloor depth:-1533.484006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.325558 meters looking forward 0.000000 meters along route # Maximum depth: 1533.325558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.325558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960923; longitude = -129.970614; captureRadius = 10; duration = 136; initialDepth = 1493.028672; finalDepth = 1493.325558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.325558 # Seafloor depth:-1533.325558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.028672 meters looking forward 0.000000 meters along route # Maximum depth: 1533.028672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.028672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960090; longitude = -129.970082; captureRadius = 10; duration = 136; initialDepth = 1493.259478; finalDepth = 1493.028672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.028672 # Seafloor depth:-1533.028672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.259478 meters looking forward 0.000000 meters along route # Maximum depth: 1533.259478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.259478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959258; longitude = -129.969552; captureRadius = 10; duration = 136; initialDepth = 1492.977933; finalDepth = 1493.259478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.259478 # Seafloor depth:-1533.259478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1532.977933 meters looking forward 0.000000 meters along route # Maximum depth: 1532.977933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.977933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958404; longitude = -129.969007; captureRadius = 10; duration = 136; initialDepth = 1493.269689; finalDepth = 1492.977933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.977933 # Seafloor depth:-1532.977933 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1533.269689 meters looking forward 0.000000 meters along route # Maximum depth: 1533.269689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.269689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957549; longitude = -129.968461; captureRadius = 10; duration = 136; initialDepth = 1494.130399; finalDepth = 1493.269689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.269689 # Seafloor depth:-1533.269689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1534.130399 meters looking forward 0.000000 meters along route # Maximum depth: 1534.130399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.130399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956694; longitude = -129.967916; captureRadius = 10; duration = 136; initialDepth = 1494.691721; finalDepth = 1494.130399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.130399 # Seafloor depth:-1534.130399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.907664 meters # Minimum depth: 1534.691721 meters looking forward 0.000000 meters along route # Maximum depth: 1534.691721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.691721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955839; longitude = -129.967371; captureRadius = 10; duration = 136; initialDepth = 1496.938202; finalDepth = 1494.691721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.691721 # Seafloor depth:-1534.691721 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 136.907664 meters # Minimum depth: 1536.938202 meters looking forward 0.000000 meters along route # Maximum depth: 1536.938202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.938202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954999; longitude = -129.966835; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1495.940191; finalDepth = 1496.938202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.938202 # Seafloor depth:-1536.938202 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.940191 meters looking forward 0.000000 meters along route # Maximum depth: 1535.940191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.940191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954309; longitude = -129.966708; captureRadius = 10; duration = 136; initialDepth = 1497.135135; finalDepth = 1495.940191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.940191 # Seafloor depth:-1535.940191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1537.135135 meters looking forward 0.000000 meters along route # Maximum depth: 1537.135135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.135135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953410; longitude = -129.966542; captureRadius = 10; duration = 136; initialDepth = 1496.572378; finalDepth = 1497.135135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.135135 # Seafloor depth:-1537.135135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1536.572378 meters looking forward 0.000000 meters along route # Maximum depth: 1536.572378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.572378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952510; longitude = -129.966376; captureRadius = 10; duration = 136; initialDepth = 1495.481323; finalDepth = 1496.572378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.572378 # Seafloor depth:-1536.572378 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.481323 meters looking forward 0.000000 meters along route # Maximum depth: 1535.481323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.481323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951610; longitude = -129.966210; captureRadius = 10; duration = 136; initialDepth = 1496.452514; finalDepth = 1495.481323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.481323 # Seafloor depth:-1535.481323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1536.452514 meters looking forward 0.000000 meters along route # Maximum depth: 1536.452514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.452514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950710; longitude = -129.966044; captureRadius = 10; duration = 136; initialDepth = 1494.297710; finalDepth = 1496.452514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.452514 # Seafloor depth:-1536.452514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1534.297710 meters looking forward 0.000000 meters along route # Maximum depth: 1534.297710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.297710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949810; longitude = -129.965878; captureRadius = 10; duration = 136; initialDepth = 1495.597260; finalDepth = 1494.297710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.29771 # Seafloor depth:-1534.297710 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.597260 meters looking forward 0.000000 meters along route # Maximum depth: 1535.597260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.597260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948910; longitude = -129.965712; captureRadius = 10; duration = 136; initialDepth = 1497.153149; finalDepth = 1495.597260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.59726 # Seafloor depth:-1535.597260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1537.153149 meters looking forward 0.000000 meters along route # Maximum depth: 1537.153149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.153149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948011; longitude = -129.965546; captureRadius = 10; duration = 136; initialDepth = 1497.257492; finalDepth = 1497.153149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.153149 # Seafloor depth:-1537.153149 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1537.257492 meters looking forward 0.000000 meters along route # Maximum depth: 1537.257492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.257492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947111; longitude = -129.965380; captureRadius = 10; duration = 136; initialDepth = 1495.989138; finalDepth = 1497.257492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.257492 # Seafloor depth:-1537.257492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.989138 meters looking forward 0.000000 meters along route # Maximum depth: 1535.989138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.989138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946211; longitude = -129.965214; captureRadius = 10; duration = 136; initialDepth = 1493.521307; finalDepth = 1495.989138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.989138 # Seafloor depth:-1535.989138 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1533.521307 meters looking forward 0.000000 meters along route # Maximum depth: 1533.521307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.521307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945311; longitude = -129.965049; captureRadius = 10; duration = 136; initialDepth = 1493.060411; finalDepth = 1493.521307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.521307 # Seafloor depth:-1533.521307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1533.060411 meters looking forward 0.000000 meters along route # Maximum depth: 1533.060411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.060411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944411; longitude = -129.964883; captureRadius = 10; duration = 136; initialDepth = 1493.376466; finalDepth = 1493.060411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.060411 # Seafloor depth:-1533.060411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1533.376466 meters looking forward 0.000000 meters along route # Maximum depth: 1533.376466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.376466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943511; longitude = -129.964717; captureRadius = 10; duration = 136; initialDepth = 1495.153555; finalDepth = 1493.376466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.376466 # Seafloor depth:-1533.376466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.153555 meters looking forward 0.000000 meters along route # Maximum depth: 1535.153555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.153555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942612; longitude = -129.964551; captureRadius = 10; duration = 136; initialDepth = 1495.385822; finalDepth = 1495.153555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.153555 # Seafloor depth:-1535.153555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.385822 meters looking forward 0.000000 meters along route # Maximum depth: 1535.385822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.385822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941712; longitude = -129.964385; captureRadius = 10; duration = 136; initialDepth = 1495.854800; finalDepth = 1495.385822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.385822 # Seafloor depth:-1535.385822 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.854800 meters looking forward 0.000000 meters along route # Maximum depth: 1535.854800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.854800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940812; longitude = -129.964219; captureRadius = 10; duration = 136; initialDepth = 1494.755493; finalDepth = 1495.854800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.8548 # Seafloor depth:-1535.854800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1534.755493 meters looking forward 0.000000 meters along route # Maximum depth: 1534.755493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.755493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939912; longitude = -129.964053; captureRadius = 10; duration = 136; initialDepth = 1494.360014; finalDepth = 1494.755493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.755493 # Seafloor depth:-1534.755493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1534.360014 meters looking forward 0.000000 meters along route # Maximum depth: 1534.360014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.360014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939012; longitude = -129.963887; captureRadius = 10; duration = 136; initialDepth = 1495.256778; finalDepth = 1494.360014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.360014 # Seafloor depth:-1534.360014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.256778 meters looking forward 0.000000 meters along route # Maximum depth: 1535.256778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.256778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938113; longitude = -129.963721; captureRadius = 10; duration = 136; initialDepth = 1495.495806; finalDepth = 1495.256778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.256778 # Seafloor depth:-1535.256778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1535.495806 meters looking forward 0.000000 meters along route # Maximum depth: 1535.495806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.495806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937213; longitude = -129.963555; captureRadius = 10; duration = 136; initialDepth = 1496.965202; finalDepth = 1495.495806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.495806 # Seafloor depth:-1535.495806 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1536.965202 meters looking forward 0.000000 meters along route # Maximum depth: 1536.965202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.965202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936313; longitude = -129.963389; captureRadius = 10; duration = 136; initialDepth = 1496.186880; finalDepth = 1496.965202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.965202 # Seafloor depth:-1536.965202 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1536.186880 meters looking forward 0.000000 meters along route # Maximum depth: 1536.186880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.186880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935413; longitude = -129.963223; captureRadius = 10; duration = 136; initialDepth = 1496.120150; finalDepth = 1496.186880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.18688 # Seafloor depth:-1536.186880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1536.120150 meters looking forward 0.000000 meters along route # Maximum depth: 1536.120150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.120150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934513; longitude = -129.963057; captureRadius = 10; duration = 136; initialDepth = 1497.072087; finalDepth = 1496.120150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.12015 # Seafloor depth:-1536.120150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1537.072087 meters looking forward 0.000000 meters along route # Maximum depth: 1537.072087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.072087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933613; longitude = -129.962892; captureRadius = 10; duration = 136; initialDepth = 1498.677288; finalDepth = 1497.072087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.072087 # Seafloor depth:-1537.072087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1538.677288 meters looking forward 0.000000 meters along route # Maximum depth: 1538.677288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.677288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932714; longitude = -129.962726; captureRadius = 10; duration = 136; initialDepth = 1499.322167; finalDepth = 1498.677288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.677288 # Seafloor depth:-1538.677288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1539.322167 meters looking forward 0.000000 meters along route # Maximum depth: 1539.322167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.322167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931814; longitude = -129.962560; captureRadius = 10; duration = 136; initialDepth = 1499.975915; finalDepth = 1499.322167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.322167 # Seafloor depth:-1539.322167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1539.975915 meters looking forward 0.000000 meters along route # Maximum depth: 1539.975915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.975915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930914; longitude = -129.962394; captureRadius = 10; duration = 136; initialDepth = 1505.830061; finalDepth = 1499.975915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.975915 # Seafloor depth:-1539.975915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1545.830061 meters looking forward 0.000000 meters along route # Maximum depth: 1545.830061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.830061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930014; longitude = -129.962228; captureRadius = 10; duration = 136; initialDepth = 1511.223485; finalDepth = 1505.830061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.830061 # Seafloor depth:-1545.830061 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1551.223485 meters looking forward 0.000000 meters along route # Maximum depth: 1551.223485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.223485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929114; longitude = -129.962062; captureRadius = 10; duration = 136; initialDepth = 1516.163540; finalDepth = 1511.223485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.223485 # Seafloor depth:-1551.223485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1556.163540 meters looking forward 0.000000 meters along route # Maximum depth: 1556.163540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.163540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928214; longitude = -129.961896; captureRadius = 10; duration = 136; initialDepth = 1517.485724; finalDepth = 1516.163540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.16354 # Seafloor depth:-1556.163540 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1557.485724 meters looking forward 0.000000 meters along route # Maximum depth: 1557.485724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.485724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927315; longitude = -129.961730; captureRadius = 10; duration = 136; initialDepth = 1518.910324; finalDepth = 1517.485724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.485724 # Seafloor depth:-1557.485724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1558.910324 meters looking forward 0.000000 meters along route # Maximum depth: 1558.910324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.910324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926415; longitude = -129.961564; captureRadius = 10; duration = 136; initialDepth = 1518.862936; finalDepth = 1518.910324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.910324 # Seafloor depth:-1558.910324 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1558.862936 meters looking forward 0.000000 meters along route # Maximum depth: 1558.862936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.862936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925515; longitude = -129.961398; captureRadius = 10; duration = 136; initialDepth = 1516.869443; finalDepth = 1518.862936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.862936 # Seafloor depth:-1558.862936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1556.869443 meters looking forward 0.000000 meters along route # Maximum depth: 1556.869443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.869443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924615; longitude = -129.961232; captureRadius = 10; duration = 136; initialDepth = 1519.683734; finalDepth = 1516.869443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.869443 # Seafloor depth:-1556.869443 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1559.683734 meters looking forward 0.000000 meters along route # Maximum depth: 1559.683734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.683734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923715; longitude = -129.961066; captureRadius = 10; duration = 136; initialDepth = 1525.767854; finalDepth = 1519.683734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.683734 # Seafloor depth:-1559.683734 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1565.767854 meters looking forward 0.000000 meters along route # Maximum depth: 1565.767854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.767854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922816; longitude = -129.960900; captureRadius = 10; duration = 136; initialDepth = 1529.613366; finalDepth = 1525.767854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.767854 # Seafloor depth:-1565.767854 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1569.613366 meters looking forward 0.000000 meters along route # Maximum depth: 1569.613366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.613366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921916; longitude = -129.960734; captureRadius = 10; duration = 136; initialDepth = 1533.324573; finalDepth = 1529.613366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1529.613366 # Seafloor depth:-1569.613366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1573.324573 meters looking forward 0.000000 meters along route # Maximum depth: 1573.324573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.324573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921016; longitude = -129.960569; captureRadius = 10; duration = 136; initialDepth = 1545.143056; finalDepth = 1533.324573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.324573 # Seafloor depth:-1573.324573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1585.143056 meters looking forward 0.000000 meters along route # Maximum depth: 1585.143056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.143056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920116; longitude = -129.960403; captureRadius = 10; duration = 136; initialDepth = 1538.414679; finalDepth = 1545.143056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1545.143056 # Seafloor depth:-1585.143056 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1578.414679 meters looking forward 0.000000 meters along route # Maximum depth: 1578.414679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.414679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919216; longitude = -129.960237; captureRadius = 10; duration = 136; initialDepth = 1544.450951; finalDepth = 1538.414679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1538.414679 # Seafloor depth:-1578.414679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1584.450951 meters looking forward 0.000000 meters along route # Maximum depth: 1584.450951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.450951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918316; longitude = -129.960071; captureRadius = 10; duration = 136; initialDepth = 1552.445065; finalDepth = 1544.450951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.450951 # Seafloor depth:-1584.450951 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1592.445065 meters looking forward 0.000000 meters along route # Maximum depth: 1592.445065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.445065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917417; longitude = -129.959905; captureRadius = 10; duration = 136; initialDepth = 1556.936979; finalDepth = 1552.445065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.445065 # Seafloor depth:-1592.445065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1596.936979 meters looking forward 0.000000 meters along route # Maximum depth: 1596.936979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.936979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916517; longitude = -129.959739; captureRadius = 10; duration = 136; initialDepth = 1561.295427; finalDepth = 1556.936979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1556.936979 # Seafloor depth:-1596.936979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1601.295427 meters looking forward 0.000000 meters along route # Maximum depth: 1601.295427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.295427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915617; longitude = -129.959573; captureRadius = 10; duration = 136; initialDepth = 1562.428089; finalDepth = 1561.295427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1561.295427 # Seafloor depth:-1601.295427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1602.428089 meters looking forward 0.000000 meters along route # Maximum depth: 1602.428089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.428089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914717; longitude = -129.959407; captureRadius = 10; duration = 136; initialDepth = 1560.739838; finalDepth = 1562.428089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1562.428089 # Seafloor depth:-1602.428089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1600.739838 meters looking forward 0.000000 meters along route # Maximum depth: 1600.739838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.739838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913817; longitude = -129.959241; captureRadius = 10; duration = 136; initialDepth = 1565.539505; finalDepth = 1560.739838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1560.739838 # Seafloor depth:-1600.739838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1605.539505 meters looking forward 0.000000 meters along route # Maximum depth: 1605.539505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.539505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912918; longitude = -129.959075; captureRadius = 10; duration = 136; initialDepth = 1569.036541; finalDepth = 1565.539505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1565.539505 # Seafloor depth:-1605.539505 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1609.036541 meters looking forward 0.000000 meters along route # Maximum depth: 1609.036541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.036541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912018; longitude = -129.958909; captureRadius = 10; duration = 136; initialDepth = 1575.507697; finalDepth = 1569.036541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1569.036541 # Seafloor depth:-1609.036541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1615.507697 meters looking forward 0.000000 meters along route # Maximum depth: 1615.507697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.507697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911118; longitude = -129.958743; captureRadius = 10; duration = 136; initialDepth = 1577.114953; finalDepth = 1575.507697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1575.507697 # Seafloor depth:-1615.507697 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1617.114953 meters looking forward 0.000000 meters along route # Maximum depth: 1617.114953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.114953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910218; longitude = -129.958577; captureRadius = 10; duration = 136; initialDepth = 1577.597135; finalDepth = 1577.114953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.114953 # Seafloor depth:-1617.114953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1617.597135 meters looking forward 0.000000 meters along route # Maximum depth: 1617.597135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.597135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909318; longitude = -129.958412; captureRadius = 10; duration = 136; initialDepth = 1582.628643; finalDepth = 1577.597135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.597135 # Seafloor depth:-1617.597135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1622.628643 meters looking forward 0.000000 meters along route # Maximum depth: 1622.628643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.628643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908418; longitude = -129.958246; captureRadius = 10; duration = 136; initialDepth = 1585.560939; finalDepth = 1582.628643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1582.628643 # Seafloor depth:-1622.628643 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.907664 meters # Minimum depth: 1625.560939 meters looking forward 0.000000 meters along route # Maximum depth: 1625.560939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.560939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907519; longitude = -129.958080; captureRadius = 10; duration = 136; initialDepth = 1588.026001; finalDepth = 1585.560939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1585.560939 # Seafloor depth:-1625.560939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 136.907664 meters # Minimum depth: 1628.026001 meters looking forward 0.000000 meters along route # Maximum depth: 1628.026001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.026001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906604; longitude = -129.957911; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1586.666177; finalDepth = 1588.026001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1588.026001 # Seafloor depth:-1628.026001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 136.907664 meters # Minimum depth: 1626.666177 meters looking forward 0.000000 meters along route # Maximum depth: 1626.666177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.666177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906587; longitude = -129.958728; captureRadius = 10; duration = 136; initialDepth = 1585.393188; finalDepth = 1586.666177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1586.666177 # Seafloor depth:-1626.666177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 136.907664 meters # Minimum depth: 1625.393188 meters looking forward 0.000000 meters along route # Maximum depth: 1625.393188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.393188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906559; longitude = -129.960040; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1585.248547; finalDepth = 1585.393188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1585.393188 # Seafloor depth:-1625.393188 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1625.248547 meters looking forward 0.000000 meters along route # Maximum depth: 1625.248547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.248547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906799; longitude = -129.960083; captureRadius = 10; duration = 136; initialDepth = 1583.333733; finalDepth = 1585.248547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1585.248547 # Seafloor depth:-1625.248547 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1623.333733 meters looking forward 0.000000 meters along route # Maximum depth: 1623.333733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.333733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907699; longitude = -129.960244; captureRadius = 10; duration = 136; initialDepth = 1577.462148; finalDepth = 1583.333733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1583.333733 # Seafloor depth:-1623.333733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1617.462148 meters looking forward 0.000000 meters along route # Maximum depth: 1617.462148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.462148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908598; longitude = -129.960406; captureRadius = 10; duration = 136; initialDepth = 1575.445409; finalDepth = 1577.462148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.462148 # Seafloor depth:-1617.462148 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1615.445409 meters looking forward 0.000000 meters along route # Maximum depth: 1615.445409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.445409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909498; longitude = -129.960567; captureRadius = 10; duration = 136; initialDepth = 1570.770250; finalDepth = 1575.445409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1575.445409 # Seafloor depth:-1615.445409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1610.770250 meters looking forward 0.000000 meters along route # Maximum depth: 1610.770250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.770250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910398; longitude = -129.960729; captureRadius = 10; duration = 136; initialDepth = 1569.010086; finalDepth = 1570.770250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1570.77025 # Seafloor depth:-1610.770250 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1609.010086 meters looking forward 0.000000 meters along route # Maximum depth: 1609.010086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.010086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911298; longitude = -129.960890; captureRadius = 10; duration = 136; initialDepth = 1564.814686; finalDepth = 1569.010086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1569.010086 # Seafloor depth:-1609.010086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1604.814686 meters looking forward 0.000000 meters along route # Maximum depth: 1604.814686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.814686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912198; longitude = -129.961052; captureRadius = 10; duration = 136; initialDepth = 1563.328750; finalDepth = 1564.814686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1564.814686 # Seafloor depth:-1604.814686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1603.328750 meters looking forward 0.000000 meters along route # Maximum depth: 1603.328750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.328750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913097; longitude = -129.961213; captureRadius = 10; duration = 136; initialDepth = 1549.491003; finalDepth = 1563.328750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.32875 # Seafloor depth:-1603.328750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1589.491003 meters looking forward 0.000000 meters along route # Maximum depth: 1589.491003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.491003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913997; longitude = -129.961374; captureRadius = 10; duration = 136; initialDepth = 1546.251590; finalDepth = 1549.491003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1549.491003 # Seafloor depth:-1589.491003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1586.251590 meters looking forward 0.000000 meters along route # Maximum depth: 1586.251590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.251590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914897; longitude = -129.961536; captureRadius = 10; duration = 136; initialDepth = 1544.660281; finalDepth = 1546.251590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1546.25159 # Seafloor depth:-1586.251590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1584.660281 meters looking forward 0.000000 meters along route # Maximum depth: 1584.660281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.660281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915797; longitude = -129.961697; captureRadius = 10; duration = 136; initialDepth = 1537.375756; finalDepth = 1544.660281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.660281 # Seafloor depth:-1584.660281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1577.375756 meters looking forward 0.000000 meters along route # Maximum depth: 1577.375756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.375756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916697; longitude = -129.961859; captureRadius = 10; duration = 136; initialDepth = 1532.350244; finalDepth = 1537.375756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.375756 # Seafloor depth:-1577.375756 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1572.350244 meters looking forward 0.000000 meters along route # Maximum depth: 1572.350244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.350244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917597; longitude = -129.962020; captureRadius = 10; duration = 136; initialDepth = 1526.175653; finalDepth = 1532.350244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.350244 # Seafloor depth:-1572.350244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1566.175653 meters looking forward 0.000000 meters along route # Maximum depth: 1566.175653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.175653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918496; longitude = -129.962181; captureRadius = 10; duration = 136; initialDepth = 1524.695226; finalDepth = 1526.175653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1526.175653 # Seafloor depth:-1566.175653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1564.695226 meters looking forward 0.000000 meters along route # Maximum depth: 1564.695226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.695226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919396; longitude = -129.962343; captureRadius = 10; duration = 136; initialDepth = 1524.286941; finalDepth = 1524.695226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.695226 # Seafloor depth:-1564.695226 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1564.286941 meters looking forward 0.000000 meters along route # Maximum depth: 1564.286941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.286941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920296; longitude = -129.962504; captureRadius = 10; duration = 136; initialDepth = 1521.542114; finalDepth = 1524.286941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.286941 # Seafloor depth:-1564.286941 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1561.542114 meters looking forward 0.000000 meters along route # Maximum depth: 1561.542114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.542114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921196; longitude = -129.962666; captureRadius = 10; duration = 136; initialDepth = 1520.178672; finalDepth = 1521.542114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.542114 # Seafloor depth:-1561.542114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1560.178672 meters looking forward 0.000000 meters along route # Maximum depth: 1560.178672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.178672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922096; longitude = -129.962827; captureRadius = 10; duration = 136; initialDepth = 1514.227365; finalDepth = 1520.178672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.178672 # Seafloor depth:-1560.178672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1554.227365 meters looking forward 0.000000 meters along route # Maximum depth: 1554.227365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.227365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922996; longitude = -129.962989; captureRadius = 10; duration = 136; initialDepth = 1512.358867; finalDepth = 1514.227365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.227365 # Seafloor depth:-1554.227365 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1552.358867 meters looking forward 0.000000 meters along route # Maximum depth: 1552.358867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.358867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923895; longitude = -129.963150; captureRadius = 10; duration = 136; initialDepth = 1511.499590; finalDepth = 1512.358867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.358867 # Seafloor depth:-1552.358867 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1551.499590 meters looking forward 0.000000 meters along route # Maximum depth: 1551.499590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.499590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924795; longitude = -129.963311; captureRadius = 10; duration = 136; initialDepth = 1511.528438; finalDepth = 1511.499590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.49959 # Seafloor depth:-1551.499590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1551.528438 meters looking forward 0.000000 meters along route # Maximum depth: 1551.528438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.528438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925695; longitude = -129.963473; captureRadius = 10; duration = 136; initialDepth = 1511.390854; finalDepth = 1511.528438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.528438 # Seafloor depth:-1551.528438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1551.390854 meters looking forward 0.000000 meters along route # Maximum depth: 1551.390854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.390854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926595; longitude = -129.963634; captureRadius = 10; duration = 136; initialDepth = 1513.971413; finalDepth = 1511.390854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.390854 # Seafloor depth:-1551.390854 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1553.971413 meters looking forward 0.000000 meters along route # Maximum depth: 1553.971413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.971413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927495; longitude = -129.963796; captureRadius = 10; duration = 136; initialDepth = 1511.235938; finalDepth = 1513.971413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.971413 # Seafloor depth:-1553.971413 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1551.235938 meters looking forward 0.000000 meters along route # Maximum depth: 1551.235938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.235938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928394; longitude = -129.963957; captureRadius = 10; duration = 136; initialDepth = 1504.764259; finalDepth = 1511.235938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.235938 # Seafloor depth:-1551.235938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1544.764259 meters looking forward 0.000000 meters along route # Maximum depth: 1544.764259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.764259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929294; longitude = -129.964119; captureRadius = 10; duration = 136; initialDepth = 1500.890953; finalDepth = 1504.764259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.764259 # Seafloor depth:-1544.764259 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1540.890953 meters looking forward 0.000000 meters along route # Maximum depth: 1540.890953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.890953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930194; longitude = -129.964280; captureRadius = 10; duration = 136; initialDepth = 1496.858789; finalDepth = 1500.890953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.890953 # Seafloor depth:-1540.890953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.858789 meters looking forward 0.000000 meters along route # Maximum depth: 1536.858789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.858789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931094; longitude = -129.964441; captureRadius = 10; duration = 136; initialDepth = 1497.722433; finalDepth = 1496.858789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.858789 # Seafloor depth:-1536.858789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1537.722433 meters looking forward 0.000000 meters along route # Maximum depth: 1537.722433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.722433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931994; longitude = -129.964603; captureRadius = 10; duration = 136; initialDepth = 1496.094304; finalDepth = 1497.722433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.722433 # Seafloor depth:-1537.722433 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.094304 meters looking forward 0.000000 meters along route # Maximum depth: 1536.094304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.094304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932894; longitude = -129.964764; captureRadius = 10; duration = 136; initialDepth = 1494.994866; finalDepth = 1496.094304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.094304 # Seafloor depth:-1536.094304 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.994866 meters looking forward 0.000000 meters along route # Maximum depth: 1534.994866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.994866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933793; longitude = -129.964926; captureRadius = 10; duration = 136; initialDepth = 1494.470045; finalDepth = 1494.994866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.994866 # Seafloor depth:-1534.994866 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.470045 meters looking forward 0.000000 meters along route # Maximum depth: 1534.470045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.470045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934693; longitude = -129.965087; captureRadius = 10; duration = 136; initialDepth = 1495.434512; finalDepth = 1494.470045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.470045 # Seafloor depth:-1534.470045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.434512 meters looking forward 0.000000 meters along route # Maximum depth: 1535.434512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.434512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935593; longitude = -129.965249; captureRadius = 10; duration = 136; initialDepth = 1494.569162; finalDepth = 1495.434512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.434512 # Seafloor depth:-1535.434512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.569162 meters looking forward 0.000000 meters along route # Maximum depth: 1534.569162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.569162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936493; longitude = -129.965410; captureRadius = 10; duration = 136; initialDepth = 1492.993824; finalDepth = 1494.569162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.569162 # Seafloor depth:-1534.569162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1532.993824 meters looking forward 0.000000 meters along route # Maximum depth: 1532.993824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.993824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937393; longitude = -129.965571; captureRadius = 10; duration = 136; initialDepth = 1492.320397; finalDepth = 1492.993824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.993824 # Seafloor depth:-1532.993824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1532.320397 meters looking forward 0.000000 meters along route # Maximum depth: 1532.320397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.320397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938292; longitude = -129.965733; captureRadius = 10; duration = 136; initialDepth = 1493.496058; finalDepth = 1492.320397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.320397 # Seafloor depth:-1532.320397 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1533.496058 meters looking forward 0.000000 meters along route # Maximum depth: 1533.496058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.496058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939192; longitude = -129.965894; captureRadius = 10; duration = 136; initialDepth = 1493.732819; finalDepth = 1493.496058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.496058 # Seafloor depth:-1533.496058 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1533.732819 meters looking forward 0.000000 meters along route # Maximum depth: 1533.732819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.732819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940092; longitude = -129.966056; captureRadius = 10; duration = 136; initialDepth = 1495.101572; finalDepth = 1493.732819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.732819 # Seafloor depth:-1533.732819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.101572 meters looking forward 0.000000 meters along route # Maximum depth: 1535.101572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.101572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940992; longitude = -129.966217; captureRadius = 10; duration = 136; initialDepth = 1496.579461; finalDepth = 1495.101572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.101572 # Seafloor depth:-1535.101572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.579461 meters looking forward 0.000000 meters along route # Maximum depth: 1536.579461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.579461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941892; longitude = -129.966378; captureRadius = 10; duration = 136; initialDepth = 1493.648746; finalDepth = 1496.579461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.579461 # Seafloor depth:-1536.579461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1533.648746 meters looking forward 0.000000 meters along route # Maximum depth: 1533.648746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.648746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942792; longitude = -129.966540; captureRadius = 10; duration = 136; initialDepth = 1492.949478; finalDepth = 1493.648746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.648746 # Seafloor depth:-1533.648746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1532.949478 meters looking forward 0.000000 meters along route # Maximum depth: 1532.949478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.949478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943691; longitude = -129.966701; captureRadius = 10; duration = 136; initialDepth = 1495.475119; finalDepth = 1492.949478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.949478 # Seafloor depth:-1532.949478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.475119 meters looking forward 0.000000 meters along route # Maximum depth: 1535.475119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.475119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944591; longitude = -129.966863; captureRadius = 10; duration = 136; initialDepth = 1495.123528; finalDepth = 1495.475119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.475119 # Seafloor depth:-1535.475119 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.123528 meters looking forward 0.000000 meters along route # Maximum depth: 1535.123528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.123528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945491; longitude = -129.967024; captureRadius = 10; duration = 136; initialDepth = 1495.469595; finalDepth = 1495.123528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.123528 # Seafloor depth:-1535.123528 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.469595 meters looking forward 0.000000 meters along route # Maximum depth: 1535.469595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.469595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946391; longitude = -129.967186; captureRadius = 10; duration = 136; initialDepth = 1498.167449; finalDepth = 1495.469595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.469595 # Seafloor depth:-1535.469595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1538.167449 meters looking forward 0.000000 meters along route # Maximum depth: 1538.167449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.167449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947291; longitude = -129.967347; captureRadius = 10; duration = 136; initialDepth = 1496.297460; finalDepth = 1498.167449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.167449 # Seafloor depth:-1538.167449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.297460 meters looking forward 0.000000 meters along route # Maximum depth: 1536.297460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.297460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948191; longitude = -129.967508; captureRadius = 10; duration = 136; initialDepth = 1496.016266; finalDepth = 1496.297460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.29746 # Seafloor depth:-1536.297460 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.016266 meters looking forward 0.000000 meters along route # Maximum depth: 1536.016266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.016266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949090; longitude = -129.967670; captureRadius = 10; duration = 136; initialDepth = 1496.117667; finalDepth = 1496.016266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.016266 # Seafloor depth:-1536.016266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1536.117667 meters looking forward 0.000000 meters along route # Maximum depth: 1536.117667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.117667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949990; longitude = -129.967831; captureRadius = 10; duration = 136; initialDepth = 1495.785921; finalDepth = 1496.117667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.117667 # Seafloor depth:-1536.117667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1535.785921 meters looking forward 0.000000 meters along route # Maximum depth: 1535.785921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.785921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950890; longitude = -129.967993; captureRadius = 10; duration = 136; initialDepth = 1494.853092; finalDepth = 1495.785921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.785921 # Seafloor depth:-1535.785921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.853092 meters looking forward 0.000000 meters along route # Maximum depth: 1534.853092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.853092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951790; longitude = -129.968154; captureRadius = 10; duration = 136; initialDepth = 1494.265528; finalDepth = 1494.853092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.853092 # Seafloor depth:-1534.853092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.265528 meters looking forward 0.000000 meters along route # Maximum depth: 1534.265528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.265528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952690; longitude = -129.968316; captureRadius = 10; duration = 136; initialDepth = 1494.712667; finalDepth = 1494.265528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.265528 # Seafloor depth:-1534.265528 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 136.907664 meters # Minimum depth: 1534.712667 meters looking forward 0.000000 meters along route # Maximum depth: 1534.712667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.712667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953589; longitude = -129.968477; captureRadius = 10; duration = 136; initialDepth = 1493.554352; finalDepth = 1494.712667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.712667 # Seafloor depth:-1534.712667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 136.907664 meters # Minimum depth: 1533.554352 meters looking forward 0.000000 meters along route # Maximum depth: 1533.554352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.554352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954504; longitude = -129.968641; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1493.000600; finalDepth = 1493.554352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.554352 # Seafloor depth:-1533.554352 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1533.000600 meters looking forward 0.000000 meters along route # Maximum depth: 1533.000600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.000600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955074; longitude = -129.969014; captureRadius = 10; duration = 136; initialDepth = 1491.849407; finalDepth = 1493.000600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.0006 # Seafloor depth:-1533.000600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1531.849407 meters looking forward 0.000000 meters along route # Maximum depth: 1531.849407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.849407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955919; longitude = -129.969566; captureRadius = 10; duration = 136; initialDepth = 1489.983417; finalDepth = 1491.849407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.849407 # Seafloor depth:-1531.849407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1529.983417 meters looking forward 0.000000 meters along route # Maximum depth: 1529.983417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.983417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956739; longitude = -129.970102; captureRadius = 10; duration = 136; initialDepth = 1487.956477; finalDepth = 1489.983417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.983417 # Seafloor depth:-1529.983417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1527.956477 meters looking forward 0.000000 meters along route # Maximum depth: 1527.956477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.956477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957596; longitude = -129.970663; captureRadius = 10; duration = 136; initialDepth = 1490.482656; finalDepth = 1487.956477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.956477 # Seafloor depth:-1527.956477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1530.482656 meters looking forward 0.000000 meters along route # Maximum depth: 1530.482656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.482656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958449; longitude = -129.971220; captureRadius = 10; duration = 136; initialDepth = 1490.544346; finalDepth = 1490.482656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.482656 # Seafloor depth:-1530.482656 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1530.544346 meters looking forward 0.000000 meters along route # Maximum depth: 1530.544346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.544346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959274; longitude = -129.971759; captureRadius = 10; duration = 136; initialDepth = 1491.930236; finalDepth = 1490.544346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.544346 # Seafloor depth:-1530.544346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1531.930236 meters looking forward 0.000000 meters along route # Maximum depth: 1531.930236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.930236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960113; longitude = -129.972308; captureRadius = 10; duration = 136; initialDepth = 1493.177957; finalDepth = 1491.930236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.930236 # Seafloor depth:-1531.930236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1533.177957 meters looking forward 0.000000 meters along route # Maximum depth: 1533.177957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.177957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960951; longitude = -129.972856; captureRadius = 10; duration = 136; initialDepth = 1492.972542; finalDepth = 1493.177957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.177957 # Seafloor depth:-1533.177957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1532.972542 meters looking forward 0.000000 meters along route # Maximum depth: 1532.972542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.972542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961778; longitude = -129.973396; captureRadius = 10; duration = 136; initialDepth = 1491.731089; finalDepth = 1492.972542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.972542 # Seafloor depth:-1532.972542 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1531.731089 meters looking forward 0.000000 meters along route # Maximum depth: 1531.731089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.731089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962633; longitude = -129.973955; captureRadius = 10; duration = 136; initialDepth = 1491.014826; finalDepth = 1491.731089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.731089 # Seafloor depth:-1531.731089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1531.014826 meters looking forward 0.000000 meters along route # Maximum depth: 1531.014826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.014826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963488; longitude = -129.974514; captureRadius = 10; duration = 136; initialDepth = 1486.956504; finalDepth = 1491.014826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.014826 # Seafloor depth:-1531.014826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1526.956504 meters looking forward 0.000000 meters along route # Maximum depth: 1526.956504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.956504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964307; longitude = -129.975049; captureRadius = 10; duration = 136; initialDepth = 1486.737619; finalDepth = 1486.956504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.956504 # Seafloor depth:-1526.956504 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1526.737619 meters looking forward 0.000000 meters along route # Maximum depth: 1526.737619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.737619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965152; longitude = -129.975602; captureRadius = 10; duration = 136; initialDepth = 1482.881705; finalDepth = 1486.737619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.737619 # Seafloor depth:-1526.737619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1522.881705 meters looking forward 0.000000 meters along route # Maximum depth: 1522.881705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.881705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965984; longitude = -129.976146; captureRadius = 10; duration = 136; initialDepth = 1479.630215; finalDepth = 1482.881705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.881705 # Seafloor depth:-1522.881705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1519.630215 meters looking forward 0.000000 meters along route # Maximum depth: 1519.630215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.630215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966817; longitude = -129.976690; captureRadius = 10; duration = 136; initialDepth = 1477.361458; finalDepth = 1479.630215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.630215 # Seafloor depth:-1519.630215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1517.361458 meters looking forward 0.000000 meters along route # Maximum depth: 1517.361458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.361458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967662; longitude = -129.977243; captureRadius = 10; duration = 136; initialDepth = 1474.801734; finalDepth = 1477.361458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.361458 # Seafloor depth:-1517.361458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1514.801734 meters looking forward 0.000000 meters along route # Maximum depth: 1514.801734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.801734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968482; longitude = -129.977779; captureRadius = 10; duration = 136; initialDepth = 1473.343519; finalDepth = 1474.801734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.801734 # Seafloor depth:-1514.801734 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1513.343519 meters looking forward 0.000000 meters along route # Maximum depth: 1513.343519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.343519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969339; longitude = -129.978339; captureRadius = 10; duration = 136; initialDepth = 1471.787948; finalDepth = 1473.343519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.343519 # Seafloor depth:-1513.343519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1511.787948 meters looking forward 0.000000 meters along route # Maximum depth: 1511.787948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.787948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970191; longitude = -129.978896; captureRadius = 10; duration = 136; initialDepth = 1470.572694; finalDepth = 1471.787948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.787948 # Seafloor depth:-1511.787948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1510.572694 meters looking forward 0.000000 meters along route # Maximum depth: 1510.572694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.572694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971046; longitude = -129.979455; captureRadius = 10; duration = 136; initialDepth = 1466.895815; finalDepth = 1470.572694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.572694 # Seafloor depth:-1510.572694 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1506.895815 meters looking forward 0.000000 meters along route # Maximum depth: 1506.895815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.895815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971905; longitude = -129.980017; captureRadius = 10; duration = 136; initialDepth = 1466.285587; finalDepth = 1466.895815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.895815 # Seafloor depth:-1506.895815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1506.285587 meters looking forward 0.000000 meters along route # Maximum depth: 1506.285587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.285587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972756; longitude = -129.980573; captureRadius = 10; duration = 136; initialDepth = 1460.821041; finalDepth = 1466.285587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.285587 # Seafloor depth:-1506.285587 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.907664 meters # Minimum depth: 1500.821041 meters looking forward 0.000000 meters along route # Maximum depth: 1500.821041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.821041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973582; longitude = -129.981113; captureRadius = 10; duration = 136; initialDepth = 1452.021881; finalDepth = 1460.821041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.821041 # Seafloor depth:-1500.821041 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 136.907664 meters # Minimum depth: 1492.021881 meters looking forward 0.000000 meters along route # Maximum depth: 1492.021881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.021881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974405; longitude = -129.981651; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1455.171489; finalDepth = 1452.021881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.021881 # Seafloor depth:-1492.021881 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 136.907664 meters # Minimum depth: 1495.171489 meters looking forward 0.000000 meters along route # Maximum depth: 1495.171489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.171489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974162; longitude = -129.982468; captureRadius = 10; duration = 136; initialDepth = 1447.236664; finalDepth = 1455.171489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.171489 # Seafloor depth:-1495.171489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 136.907664 meters # Minimum depth: 1487.236664 meters looking forward 0.000000 meters along route # Maximum depth: 1487.236664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.236664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973805; longitude = -129.983672; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1446.032868; finalDepth = 1447.236664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.236664 # Seafloor depth:-1487.236664 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1486.032868 meters looking forward 0.000000 meters along route # Maximum depth: 1486.032868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.032868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973386; longitude = -129.983404; captureRadius = 10; duration = 136; initialDepth = 1450.643489; finalDepth = 1446.032868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.032868 # Seafloor depth:-1486.032868 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1490.643489 meters looking forward 0.000000 meters along route # Maximum depth: 1490.643489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.643489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972526; longitude = -129.982855; captureRadius = 10; duration = 136; initialDepth = 1458.184045; finalDepth = 1450.643489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1450.643489 # Seafloor depth:-1490.643489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1498.184045 meters looking forward 0.000000 meters along route # Maximum depth: 1498.184045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.184045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971676; longitude = -129.982311; captureRadius = 10; duration = 136; initialDepth = 1463.601235; finalDepth = 1458.184045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.184045 # Seafloor depth:-1498.184045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1503.601235 meters looking forward 0.000000 meters along route # Maximum depth: 1503.601235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.601235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970810; longitude = -129.981758; captureRadius = 10; duration = 136; initialDepth = 1468.025948; finalDepth = 1463.601235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.601235 # Seafloor depth:-1503.601235 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1508.025948 meters looking forward 0.000000 meters along route # Maximum depth: 1508.025948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.025948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969966; longitude = -129.981219; captureRadius = 10; duration = 136; initialDepth = 1468.184260; finalDepth = 1468.025948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.025948 # Seafloor depth:-1508.025948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1508.184260 meters looking forward 0.000000 meters along route # Maximum depth: 1508.184260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.184260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969111; longitude = -129.980673; captureRadius = 10; duration = 136; initialDepth = 1468.894396; finalDepth = 1468.184260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.18426 # Seafloor depth:-1508.184260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1508.894396 meters looking forward 0.000000 meters along route # Maximum depth: 1508.894396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.894396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968287; longitude = -129.980146; captureRadius = 10; duration = 136; initialDepth = 1469.332263; finalDepth = 1468.894396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.894396 # Seafloor depth:-1508.894396 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1509.332263 meters looking forward 0.000000 meters along route # Maximum depth: 1509.332263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.332263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967447; longitude = -129.979609; captureRadius = 10; duration = 136; initialDepth = 1464.961074; finalDepth = 1469.332263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.332263 # Seafloor depth:-1509.332263 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1504.961074 meters looking forward 0.000000 meters along route # Maximum depth: 1504.961074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.961074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966592; longitude = -129.979063; captureRadius = 10; duration = 136; initialDepth = 1467.424424; finalDepth = 1464.961074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.961074 # Seafloor depth:-1504.961074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1507.424424 meters looking forward 0.000000 meters along route # Maximum depth: 1507.424424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.424424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965763; longitude = -129.978533; captureRadius = 10; duration = 136; initialDepth = 1480.284810; finalDepth = 1467.424424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.424424 # Seafloor depth:-1507.424424 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1520.284810 meters looking forward 0.000000 meters along route # Maximum depth: 1520.284810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.284810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964927; longitude = -129.977999; captureRadius = 10; duration = 136; initialDepth = 1483.292840; finalDepth = 1480.284810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.28481 # Seafloor depth:-1520.284810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1523.292840 meters looking forward 0.000000 meters along route # Maximum depth: 1523.292840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.292840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964072; longitude = -129.977452; captureRadius = 10; duration = 136; initialDepth = 1484.814909; finalDepth = 1483.292840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.29284 # Seafloor depth:-1523.292840 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1524.814909 meters looking forward 0.000000 meters along route # Maximum depth: 1524.814909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.814909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963239; longitude = -129.976920; captureRadius = 10; duration = 136; initialDepth = 1486.400108; finalDepth = 1484.814909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.814909 # Seafloor depth:-1524.814909 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1526.400108 meters looking forward 0.000000 meters along route # Maximum depth: 1526.400108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.400108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962408; longitude = -129.976389; captureRadius = 10; duration = 136; initialDepth = 1487.963224; finalDepth = 1486.400108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.400108 # Seafloor depth:-1526.400108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1527.963224 meters looking forward 0.000000 meters along route # Maximum depth: 1527.963224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.963224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961553; longitude = -129.975842; captureRadius = 10; duration = 136; initialDepth = 1488.250576; finalDepth = 1487.963224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.963224 # Seafloor depth:-1527.963224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1528.250576 meters looking forward 0.000000 meters along route # Maximum depth: 1528.250576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.250576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960716; longitude = -129.975307; captureRadius = 10; duration = 136; initialDepth = 1487.607398; finalDepth = 1488.250576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.250576 # Seafloor depth:-1528.250576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1527.607398 meters looking forward 0.000000 meters along route # Maximum depth: 1527.607398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.607398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959888; longitude = -129.974779; captureRadius = 10; duration = 136; initialDepth = 1487.206374; finalDepth = 1487.607398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.607398 # Seafloor depth:-1527.607398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1527.206374 meters looking forward 0.000000 meters along route # Maximum depth: 1527.206374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.206374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959033; longitude = -129.974232; captureRadius = 10; duration = 136; initialDepth = 1485.645094; finalDepth = 1487.206374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.206374 # Seafloor depth:-1527.206374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1525.645094 meters looking forward 0.000000 meters along route # Maximum depth: 1525.645094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.645094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958179; longitude = -129.973686; captureRadius = 10; duration = 136; initialDepth = 1484.942203; finalDepth = 1485.645094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.645094 # Seafloor depth:-1525.645094 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1524.942203 meters looking forward 0.000000 meters along route # Maximum depth: 1524.942203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.942203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957324; longitude = -129.973140; captureRadius = 10; duration = 136; initialDepth = 1484.851788; finalDepth = 1484.942203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.942203 # Seafloor depth:-1524.942203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1524.851788 meters looking forward 0.000000 meters along route # Maximum depth: 1524.851788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.851788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956469; longitude = -129.972593; captureRadius = 10; duration = 136; initialDepth = 1487.751588; finalDepth = 1484.851788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.851788 # Seafloor depth:-1524.851788 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1527.751588 meters looking forward 0.000000 meters along route # Maximum depth: 1527.751588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.751588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955614; longitude = -129.972047; captureRadius = 10; duration = 136; initialDepth = 1486.843961; finalDepth = 1487.751588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.751588 # Seafloor depth:-1527.751588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.907664 meters # Minimum depth: 1526.843961 meters looking forward 0.000000 meters along route # Maximum depth: 1526.843961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.843961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954759; longitude = -129.971501; captureRadius = 10; duration = 136; initialDepth = 1489.054596; finalDepth = 1486.843961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.843961 # Seafloor depth:-1526.843961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 136.907664 meters # Minimum depth: 1529.054596 meters looking forward 0.000000 meters along route # Maximum depth: 1529.054596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.054596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953919; longitude = -129.970964; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1488.905009; finalDepth = 1489.054596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.054596 # Seafloor depth:-1529.054596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1528.905009 meters looking forward 0.000000 meters along route # Maximum depth: 1528.905009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.905009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953365; longitude = -129.970863; captureRadius = 10; duration = 136; initialDepth = 1488.922934; finalDepth = 1488.905009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.905009 # Seafloor depth:-1528.905009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1528.922934 meters looking forward 0.000000 meters along route # Maximum depth: 1528.922934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.922934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952465; longitude = -129.970699; captureRadius = 10; duration = 136; initialDepth = 1487.827364; finalDepth = 1488.922934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.922934 # Seafloor depth:-1528.922934 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1527.827364 meters looking forward 0.000000 meters along route # Maximum depth: 1527.827364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.827364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951560; longitude = -129.970534; captureRadius = 10; duration = 136; initialDepth = 1490.053804; finalDepth = 1487.827364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.827364 # Seafloor depth:-1527.827364 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1530.053804 meters looking forward 0.000000 meters along route # Maximum depth: 1530.053804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.053804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950665; longitude = -129.970370; captureRadius = 10; duration = 136; initialDepth = 1492.876960; finalDepth = 1490.053804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.053804 # Seafloor depth:-1530.053804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.876960 meters looking forward 0.000000 meters along route # Maximum depth: 1532.876960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.876960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949765; longitude = -129.970206; captureRadius = 10; duration = 136; initialDepth = 1493.789860; finalDepth = 1492.876960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.87696 # Seafloor depth:-1532.876960 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.789860 meters looking forward 0.000000 meters along route # Maximum depth: 1533.789860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.789860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948865; longitude = -129.970042; captureRadius = 10; duration = 136; initialDepth = 1493.682190; finalDepth = 1493.789860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.78986 # Seafloor depth:-1533.789860 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.682190 meters looking forward 0.000000 meters along route # Maximum depth: 1533.682190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.682190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947966; longitude = -129.969878; captureRadius = 10; duration = 136; initialDepth = 1492.526631; finalDepth = 1493.682190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.68219 # Seafloor depth:-1533.682190 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.526631 meters looking forward 0.000000 meters along route # Maximum depth: 1532.526631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.526631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947066; longitude = -129.969713; captureRadius = 10; duration = 136; initialDepth = 1492.420239; finalDepth = 1492.526631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.526631 # Seafloor depth:-1532.526631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.420239 meters looking forward 0.000000 meters along route # Maximum depth: 1532.420239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.420239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946166; longitude = -129.969549; captureRadius = 10; duration = 136; initialDepth = 1491.806801; finalDepth = 1492.420239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.420239 # Seafloor depth:-1532.420239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1531.806801 meters looking forward 0.000000 meters along route # Maximum depth: 1531.806801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.806801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945266; longitude = -129.969385; captureRadius = 10; duration = 136; initialDepth = 1492.667007; finalDepth = 1491.806801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.806801 # Seafloor depth:-1531.806801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.667007 meters looking forward 0.000000 meters along route # Maximum depth: 1532.667007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.667007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944366; longitude = -129.969221; captureRadius = 10; duration = 136; initialDepth = 1493.118577; finalDepth = 1492.667007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.667007 # Seafloor depth:-1532.667007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.118577 meters looking forward 0.000000 meters along route # Maximum depth: 1533.118577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.118577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943466; longitude = -129.969057; captureRadius = 10; duration = 136; initialDepth = 1492.613926; finalDepth = 1493.118577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.118577 # Seafloor depth:-1533.118577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.613926 meters looking forward 0.000000 meters along route # Maximum depth: 1532.613926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.613926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942567; longitude = -129.968892; captureRadius = 10; duration = 136; initialDepth = 1494.741104; finalDepth = 1492.613926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.613926 # Seafloor depth:-1532.613926 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1534.741104 meters looking forward 0.000000 meters along route # Maximum depth: 1534.741104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.741104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941662; longitude = -129.968727; captureRadius = 10; duration = 136; initialDepth = 1493.388508; finalDepth = 1494.741104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.741104 # Seafloor depth:-1534.741104 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.388508 meters looking forward 0.000000 meters along route # Maximum depth: 1533.388508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.388508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940767; longitude = -129.968564; captureRadius = 10; duration = 136; initialDepth = 1492.129705; finalDepth = 1493.388508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.388508 # Seafloor depth:-1533.388508 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.129705 meters looking forward 0.000000 meters along route # Maximum depth: 1532.129705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.129705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939867; longitude = -129.968400; captureRadius = 10; duration = 136; initialDepth = 1490.601431; finalDepth = 1492.129705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.129705 # Seafloor depth:-1532.129705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1530.601431 meters looking forward 0.000000 meters along route # Maximum depth: 1530.601431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.601431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938967; longitude = -129.968236; captureRadius = 10; duration = 136; initialDepth = 1492.245632; finalDepth = 1490.601431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.601431 # Seafloor depth:-1530.601431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.245632 meters looking forward 0.000000 meters along route # Maximum depth: 1532.245632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.245632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938068; longitude = -129.968071; captureRadius = 10; duration = 136; initialDepth = 1492.735487; finalDepth = 1492.245632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.245632 # Seafloor depth:-1532.245632 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.735487 meters looking forward 0.000000 meters along route # Maximum depth: 1532.735487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.735487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937168; longitude = -129.967907; captureRadius = 10; duration = 136; initialDepth = 1492.625996; finalDepth = 1492.735487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.735487 # Seafloor depth:-1532.735487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1532.625996 meters looking forward 0.000000 meters along route # Maximum depth: 1532.625996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.625996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936268; longitude = -129.967743; captureRadius = 10; duration = 136; initialDepth = 1493.010095; finalDepth = 1492.625996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.625996 # Seafloor depth:-1532.625996 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.010095 meters looking forward 0.000000 meters along route # Maximum depth: 1533.010095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.010095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935368; longitude = -129.967579; captureRadius = 10; duration = 136; initialDepth = 1493.883408; finalDepth = 1493.010095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.010095 # Seafloor depth:-1533.010095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1533.883408 meters looking forward 0.000000 meters along route # Maximum depth: 1533.883408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.883408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934468; longitude = -129.967415; captureRadius = 10; duration = 136; initialDepth = 1494.716800; finalDepth = 1493.883408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.883408 # Seafloor depth:-1533.883408 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1534.716800 meters looking forward 0.000000 meters along route # Maximum depth: 1534.716800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.716800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933568; longitude = -129.967250; captureRadius = 10; duration = 136; initialDepth = 1495.213782; finalDepth = 1494.716800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.7168 # Seafloor depth:-1534.716800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1535.213782 meters looking forward 0.000000 meters along route # Maximum depth: 1535.213782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.213782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932669; longitude = -129.967086; captureRadius = 10; duration = 136; initialDepth = 1496.867957; finalDepth = 1495.213782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.213782 # Seafloor depth:-1535.213782 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1536.867957 meters looking forward 0.000000 meters along route # Maximum depth: 1536.867957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.867957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931763; longitude = -129.966921; captureRadius = 10; duration = 136; initialDepth = 1497.313571; finalDepth = 1496.867957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.867957 # Seafloor depth:-1536.867957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1537.313571 meters looking forward 0.000000 meters along route # Maximum depth: 1537.313571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.313571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930869; longitude = -129.966758; captureRadius = 10; duration = 136; initialDepth = 1495.222014; finalDepth = 1497.313571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.313571 # Seafloor depth:-1537.313571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1535.222014 meters looking forward 0.000000 meters along route # Maximum depth: 1535.222014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.222014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929969; longitude = -129.966594; captureRadius = 10; duration = 136; initialDepth = 1496.109472; finalDepth = 1495.222014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.222014 # Seafloor depth:-1535.222014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1536.109472 meters looking forward 0.000000 meters along route # Maximum depth: 1536.109472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.109472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929069; longitude = -129.966429; captureRadius = 10; duration = 136; initialDepth = 1497.687803; finalDepth = 1496.109472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.109472 # Seafloor depth:-1536.109472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1537.687803 meters looking forward 0.000000 meters along route # Maximum depth: 1537.687803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.687803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928169; longitude = -129.966265; captureRadius = 10; duration = 136; initialDepth = 1499.822784; finalDepth = 1497.687803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.687803 # Seafloor depth:-1537.687803 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1539.822784 meters looking forward 0.000000 meters along route # Maximum depth: 1539.822784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.822784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927270; longitude = -129.966101; captureRadius = 10; duration = 136; initialDepth = 1502.002275; finalDepth = 1499.822784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.822784 # Seafloor depth:-1539.822784 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1542.002275 meters looking forward 0.000000 meters along route # Maximum depth: 1542.002275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.002275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926370; longitude = -129.965937; captureRadius = 10; duration = 136; initialDepth = 1505.171779; finalDepth = 1502.002275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.002275 # Seafloor depth:-1542.002275 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1545.171779 meters looking forward 0.000000 meters along route # Maximum depth: 1545.171779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.171779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925470; longitude = -129.965773; captureRadius = 10; duration = 136; initialDepth = 1506.761136; finalDepth = 1505.171779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.171779 # Seafloor depth:-1545.171779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1546.761136 meters looking forward 0.000000 meters along route # Maximum depth: 1546.761136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.761136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924570; longitude = -129.965608; captureRadius = 10; duration = 136; initialDepth = 1509.149122; finalDepth = 1506.761136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.761136 # Seafloor depth:-1546.761136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1549.149122 meters looking forward 0.000000 meters along route # Maximum depth: 1549.149122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.149122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923670; longitude = -129.965444; captureRadius = 10; duration = 136; initialDepth = 1514.346502; finalDepth = 1509.149122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.149122 # Seafloor depth:-1549.149122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1554.346502 meters looking forward 0.000000 meters along route # Maximum depth: 1554.346502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.346502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922771; longitude = -129.965280; captureRadius = 10; duration = 136; initialDepth = 1514.868557; finalDepth = 1514.346502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.346502 # Seafloor depth:-1554.346502 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1554.868557 meters looking forward 0.000000 meters along route # Maximum depth: 1554.868557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.868557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921865; longitude = -129.965115; captureRadius = 10; duration = 136; initialDepth = 1517.330623; finalDepth = 1514.868557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.868557 # Seafloor depth:-1554.868557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1557.330623 meters looking forward 0.000000 meters along route # Maximum depth: 1557.330623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.330623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920971; longitude = -129.964952; captureRadius = 10; duration = 136; initialDepth = 1521.777125; finalDepth = 1517.330623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.330623 # Seafloor depth:-1557.330623 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1561.777125 meters looking forward 0.000000 meters along route # Maximum depth: 1561.777125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.777125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920071; longitude = -129.964787; captureRadius = 10; duration = 136; initialDepth = 1519.151520; finalDepth = 1521.777125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.777125 # Seafloor depth:-1561.777125 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1559.151520 meters looking forward 0.000000 meters along route # Maximum depth: 1559.151520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.151520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919171; longitude = -129.964623; captureRadius = 10; duration = 136; initialDepth = 1522.102341; finalDepth = 1519.151520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.15152 # Seafloor depth:-1559.151520 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1562.102341 meters looking forward 0.000000 meters along route # Maximum depth: 1562.102341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.102341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918271; longitude = -129.964459; captureRadius = 10; duration = 136; initialDepth = 1528.243976; finalDepth = 1522.102341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.102341 # Seafloor depth:-1562.102341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1568.243976 meters looking forward 0.000000 meters along route # Maximum depth: 1568.243976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.243976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917372; longitude = -129.964295; captureRadius = 10; duration = 136; initialDepth = 1534.849868; finalDepth = 1528.243976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.243976 # Seafloor depth:-1568.243976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1574.849868 meters looking forward 0.000000 meters along route # Maximum depth: 1574.849868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.849868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916472; longitude = -129.964131; captureRadius = 10; duration = 136; initialDepth = 1537.931482; finalDepth = 1534.849868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1534.849868 # Seafloor depth:-1574.849868 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1577.931482 meters looking forward 0.000000 meters along route # Maximum depth: 1577.931482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.931482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915572; longitude = -129.963966; captureRadius = 10; duration = 136; initialDepth = 1539.515606; finalDepth = 1537.931482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.931482 # Seafloor depth:-1577.931482 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1579.515606 meters looking forward 0.000000 meters along route # Maximum depth: 1579.515606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.515606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914672; longitude = -129.963802; captureRadius = 10; duration = 136; initialDepth = 1542.663800; finalDepth = 1539.515606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1539.515606 # Seafloor depth:-1579.515606 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1582.663800 meters looking forward 0.000000 meters along route # Maximum depth: 1582.663800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.663800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913772; longitude = -129.963638; captureRadius = 10; duration = 136; initialDepth = 1544.940604; finalDepth = 1542.663800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1542.6638 # Seafloor depth:-1582.663800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1584.940604 meters looking forward 0.000000 meters along route # Maximum depth: 1584.940604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.940604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912873; longitude = -129.963474; captureRadius = 10; duration = 136; initialDepth = 1548.730239; finalDepth = 1544.940604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.940604 # Seafloor depth:-1584.940604 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1588.730239 meters looking forward 0.000000 meters along route # Maximum depth: 1588.730239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.730239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911966; longitude = -129.963308; captureRadius = 10; duration = 136; initialDepth = 1551.695055; finalDepth = 1548.730239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1548.730239 # Seafloor depth:-1588.730239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1591.695055 meters looking forward 0.000000 meters along route # Maximum depth: 1591.695055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.695055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911073; longitude = -129.963145; captureRadius = 10; duration = 136; initialDepth = 1555.521707; finalDepth = 1551.695055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1551.695055 # Seafloor depth:-1591.695055 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1595.521707 meters looking forward 0.000000 meters along route # Maximum depth: 1595.521707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.521707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910173; longitude = -129.962981; captureRadius = 10; duration = 136; initialDepth = 1558.916602; finalDepth = 1555.521707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1555.521707 # Seafloor depth:-1595.521707 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1598.916602 meters looking forward 0.000000 meters along route # Maximum depth: 1598.916602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.916602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909273; longitude = -129.962817; captureRadius = 10; duration = 136; initialDepth = 1563.362965; finalDepth = 1558.916602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1558.916602 # Seafloor depth:-1598.916602 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1603.362965 meters looking forward 0.000000 meters along route # Maximum depth: 1603.362965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.362965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908373; longitude = -129.962653; captureRadius = 10; duration = 136; initialDepth = 1564.404606; finalDepth = 1563.362965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.362965 # Seafloor depth:-1603.362965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.907664 meters # Minimum depth: 1604.404606 meters looking forward 0.000000 meters along route # Maximum depth: 1604.404606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.404606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907474; longitude = -129.962489; captureRadius = 10; duration = 136; initialDepth = 1571.645081; finalDepth = 1564.404606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1564.404606 # Seafloor depth:-1604.404606 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 136.907664 meters # Minimum depth: 1611.645081 meters looking forward 0.000000 meters along route # Maximum depth: 1611.645081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.645081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906544; longitude = -129.962319; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1568.372152; finalDepth = 1571.645081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1571.645081 # Seafloor depth:-1611.645081 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.907664 meters # Minimum depth: 1608.372152 meters looking forward 0.000000 meters along route # Maximum depth: 1608.372152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.372152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906531; longitude = -129.963373; captureRadius = 10; duration = 136; initialDepth = 1563.476929; finalDepth = 1568.372152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1568.372152 # Seafloor depth:-1608.372152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 136.907664 meters # Minimum depth: 1603.476929 meters looking forward 0.000000 meters along route # Maximum depth: 1603.476929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.476929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906514; longitude = -129.964685; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1561.505720; finalDepth = 1563.476929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.476929 # Seafloor depth:-1603.476929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1601.505720 meters looking forward 0.000000 meters along route # Maximum depth: 1601.505720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.505720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906754; longitude = -129.964728; captureRadius = 10; duration = 136; initialDepth = 1558.816129; finalDepth = 1561.505720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1561.50572 # Seafloor depth:-1601.505720 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1598.816129 meters looking forward 0.000000 meters along route # Maximum depth: 1598.816129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.816129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907654; longitude = -129.964889; captureRadius = 10; duration = 136; initialDepth = 1553.730136; finalDepth = 1558.816129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1558.816129 # Seafloor depth:-1598.816129 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1593.730136 meters looking forward 0.000000 meters along route # Maximum depth: 1593.730136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.730136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908558; longitude = -129.965050; captureRadius = 10; duration = 136; initialDepth = 1549.844014; finalDepth = 1553.730136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1553.730136 # Seafloor depth:-1593.730136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1589.844014 meters looking forward 0.000000 meters along route # Maximum depth: 1589.844014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.844014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909453; longitude = -129.965210; captureRadius = 10; duration = 136; initialDepth = 1546.151870; finalDepth = 1549.844014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1549.844014 # Seafloor depth:-1589.844014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1586.151870 meters looking forward 0.000000 meters along route # Maximum depth: 1586.151870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.151870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910353; longitude = -129.965371; captureRadius = 10; duration = 136; initialDepth = 1538.424662; finalDepth = 1546.151870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1546.15187 # Seafloor depth:-1586.151870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1578.424662 meters looking forward 0.000000 meters along route # Maximum depth: 1578.424662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.424662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911253; longitude = -129.965532; captureRadius = 10; duration = 136; initialDepth = 1539.730998; finalDepth = 1538.424662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1538.424662 # Seafloor depth:-1578.424662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1579.730998 meters looking forward 0.000000 meters along route # Maximum depth: 1579.730998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.730998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912153; longitude = -129.965693; captureRadius = 10; duration = 136; initialDepth = 1536.689255; finalDepth = 1539.730998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1539.730998 # Seafloor depth:-1579.730998 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1576.689255 meters looking forward 0.000000 meters along route # Maximum depth: 1576.689255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.689255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913052; longitude = -129.965853; captureRadius = 10; duration = 136; initialDepth = 1535.427103; finalDepth = 1536.689255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1536.689255 # Seafloor depth:-1576.689255 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1575.427103 meters looking forward 0.000000 meters along route # Maximum depth: 1575.427103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.427103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913952; longitude = -129.966014; captureRadius = 10; duration = 136; initialDepth = 1532.333188; finalDepth = 1535.427103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1535.427103 # Seafloor depth:-1575.427103 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1572.333188 meters looking forward 0.000000 meters along route # Maximum depth: 1572.333188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.333188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914852; longitude = -129.966175; captureRadius = 10; duration = 136; initialDepth = 1533.112740; finalDepth = 1532.333188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.333188 # Seafloor depth:-1572.333188 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1573.112740 meters looking forward 0.000000 meters along route # Maximum depth: 1573.112740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.112740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915752; longitude = -129.966336; captureRadius = 10; duration = 136; initialDepth = 1531.405807; finalDepth = 1533.112740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.11274 # Seafloor depth:-1573.112740 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1571.405807 meters looking forward 0.000000 meters along route # Maximum depth: 1571.405807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.405807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916652; longitude = -129.966497; captureRadius = 10; duration = 136; initialDepth = 1524.304106; finalDepth = 1531.405807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.405807 # Seafloor depth:-1571.405807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1564.304106 meters looking forward 0.000000 meters along route # Maximum depth: 1564.304106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.304106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917552; longitude = -129.966657; captureRadius = 10; duration = 136; initialDepth = 1517.731961; finalDepth = 1524.304106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.304106 # Seafloor depth:-1564.304106 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1557.731961 meters looking forward 0.000000 meters along route # Maximum depth: 1557.731961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.731961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918451; longitude = -129.966818; captureRadius = 10; duration = 136; initialDepth = 1516.089670; finalDepth = 1517.731961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.731961 # Seafloor depth:-1557.731961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1556.089670 meters looking forward 0.000000 meters along route # Maximum depth: 1556.089670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.089670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919351; longitude = -129.966979; captureRadius = 10; duration = 136; initialDepth = 1517.142598; finalDepth = 1516.089670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.08967 # Seafloor depth:-1556.089670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1557.142598 meters looking forward 0.000000 meters along route # Maximum depth: 1557.142598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.142598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920251; longitude = -129.967140; captureRadius = 10; duration = 136; initialDepth = 1513.358941; finalDepth = 1517.142598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.142598 # Seafloor depth:-1557.142598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1553.358941 meters looking forward 0.000000 meters along route # Maximum depth: 1553.358941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.358941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921151; longitude = -129.967301; captureRadius = 10; duration = 136; initialDepth = 1507.214557; finalDepth = 1513.358941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.358941 # Seafloor depth:-1553.358941 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1547.214557 meters looking forward 0.000000 meters along route # Maximum depth: 1547.214557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.214557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922051; longitude = -129.967461; captureRadius = 10; duration = 136; initialDepth = 1506.060029; finalDepth = 1507.214557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.214557 # Seafloor depth:-1547.214557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1546.060029 meters looking forward 0.000000 meters along route # Maximum depth: 1546.060029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.060029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922951; longitude = -129.967622; captureRadius = 10; duration = 136; initialDepth = 1505.096280; finalDepth = 1506.060029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.060029 # Seafloor depth:-1546.060029 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1545.096280 meters looking forward 0.000000 meters along route # Maximum depth: 1545.096280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.096280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923850; longitude = -129.967783; captureRadius = 10; duration = 136; initialDepth = 1504.695132; finalDepth = 1505.096280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.09628 # Seafloor depth:-1545.096280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1544.695132 meters looking forward 0.000000 meters along route # Maximum depth: 1544.695132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.695132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924750; longitude = -129.967944; captureRadius = 10; duration = 136; initialDepth = 1503.314914; finalDepth = 1504.695132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.695132 # Seafloor depth:-1544.695132 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1543.314914 meters looking forward 0.000000 meters along route # Maximum depth: 1543.314914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.314914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925650; longitude = -129.968105; captureRadius = 10; duration = 136; initialDepth = 1498.779506; finalDepth = 1503.314914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.314914 # Seafloor depth:-1543.314914 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1538.779506 meters looking forward 0.000000 meters along route # Maximum depth: 1538.779506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.779506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926550; longitude = -129.968265; captureRadius = 10; duration = 136; initialDepth = 1495.403527; finalDepth = 1498.779506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.779506 # Seafloor depth:-1538.779506 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1535.403527 meters looking forward 0.000000 meters along route # Maximum depth: 1535.403527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.403527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927450; longitude = -129.968426; captureRadius = 10; duration = 136; initialDepth = 1495.659403; finalDepth = 1495.403527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.403527 # Seafloor depth:-1535.403527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1535.659403 meters looking forward 0.000000 meters along route # Maximum depth: 1535.659403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.659403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928349; longitude = -129.968587; captureRadius = 10; duration = 136; initialDepth = 1495.260526; finalDepth = 1495.659403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.659403 # Seafloor depth:-1535.659403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1535.260526 meters looking forward 0.000000 meters along route # Maximum depth: 1535.260526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.260526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929249; longitude = -129.968748; captureRadius = 10; duration = 136; initialDepth = 1495.077871; finalDepth = 1495.260526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.260526 # Seafloor depth:-1535.260526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1535.077871 meters looking forward 0.000000 meters along route # Maximum depth: 1535.077871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.077871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930149; longitude = -129.968909; captureRadius = 10; duration = 136; initialDepth = 1495.575444; finalDepth = 1495.077871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.077871 # Seafloor depth:-1535.077871 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1535.575444 meters looking forward 0.000000 meters along route # Maximum depth: 1535.575444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.575444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931049; longitude = -129.969069; captureRadius = 10; duration = 136; initialDepth = 1493.928570; finalDepth = 1495.575444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.575444 # Seafloor depth:-1535.575444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1533.928570 meters looking forward 0.000000 meters along route # Maximum depth: 1533.928570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.928570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931949; longitude = -129.969230; captureRadius = 10; duration = 136; initialDepth = 1492.941485; finalDepth = 1493.928570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.92857 # Seafloor depth:-1533.928570 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1532.941485 meters looking forward 0.000000 meters along route # Maximum depth: 1532.941485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.941485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932849; longitude = -129.969391; captureRadius = 10; duration = 136; initialDepth = 1491.121991; finalDepth = 1492.941485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.941485 # Seafloor depth:-1532.941485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.121991 meters looking forward 0.000000 meters along route # Maximum depth: 1531.121991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.121991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933748; longitude = -129.969552; captureRadius = 10; duration = 136; initialDepth = 1490.899617; finalDepth = 1491.121991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.121991 # Seafloor depth:-1531.121991 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.899617 meters looking forward 0.000000 meters along route # Maximum depth: 1530.899617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.899617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934648; longitude = -129.969713; captureRadius = 10; duration = 136; initialDepth = 1490.073267; finalDepth = 1490.899617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.899617 # Seafloor depth:-1530.899617 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.073267 meters looking forward 0.000000 meters along route # Maximum depth: 1530.073267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.073267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935548; longitude = -129.969873; captureRadius = 10; duration = 136; initialDepth = 1489.929573; finalDepth = 1490.073267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.073267 # Seafloor depth:-1530.073267 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1529.929573 meters looking forward 0.000000 meters along route # Maximum depth: 1529.929573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.929573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936448; longitude = -129.970034; captureRadius = 10; duration = 136; initialDepth = 1488.697855; finalDepth = 1489.929573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.929573 # Seafloor depth:-1529.929573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1528.697855 meters looking forward 0.000000 meters along route # Maximum depth: 1528.697855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.697855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937348; longitude = -129.970195; captureRadius = 10; duration = 136; initialDepth = 1487.574026; finalDepth = 1488.697855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.697855 # Seafloor depth:-1528.697855 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1527.574026 meters looking forward 0.000000 meters along route # Maximum depth: 1527.574026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.574026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938248; longitude = -129.970356; captureRadius = 10; duration = 136; initialDepth = 1487.860702; finalDepth = 1487.574026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.574026 # Seafloor depth:-1527.574026 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1527.860702 meters looking forward 0.000000 meters along route # Maximum depth: 1527.860702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.860702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939147; longitude = -129.970517; captureRadius = 10; duration = 136; initialDepth = 1488.123504; finalDepth = 1487.860702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.860702 # Seafloor depth:-1527.860702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1528.123504 meters looking forward 0.000000 meters along route # Maximum depth: 1528.123504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.123504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940047; longitude = -129.970677; captureRadius = 10; duration = 136; initialDepth = 1490.849580; finalDepth = 1488.123504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.123504 # Seafloor depth:-1528.123504 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.849580 meters looking forward 0.000000 meters along route # Maximum depth: 1530.849580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.849580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940947; longitude = -129.970838; captureRadius = 10; duration = 136; initialDepth = 1491.698913; finalDepth = 1490.849580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.84958 # Seafloor depth:-1530.849580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.698913 meters looking forward 0.000000 meters along route # Maximum depth: 1531.698913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.698913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941847; longitude = -129.970999; captureRadius = 10; duration = 136; initialDepth = 1491.863749; finalDepth = 1491.698913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.698913 # Seafloor depth:-1531.698913 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.863749 meters looking forward 0.000000 meters along route # Maximum depth: 1531.863749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.863749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942747; longitude = -129.971160; captureRadius = 10; duration = 136; initialDepth = 1491.608013; finalDepth = 1491.863749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.863749 # Seafloor depth:-1531.863749 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.608013 meters looking forward 0.000000 meters along route # Maximum depth: 1531.608013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.608013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943646; longitude = -129.971321; captureRadius = 10; duration = 136; initialDepth = 1491.412398; finalDepth = 1491.608013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.608013 # Seafloor depth:-1531.608013 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.412398 meters looking forward 0.000000 meters along route # Maximum depth: 1531.412398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.412398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944546; longitude = -129.971481; captureRadius = 10; duration = 136; initialDepth = 1490.913220; finalDepth = 1491.412398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.412398 # Seafloor depth:-1531.412398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.913220 meters looking forward 0.000000 meters along route # Maximum depth: 1530.913220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.913220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945446; longitude = -129.971642; captureRadius = 10; duration = 136; initialDepth = 1491.125588; finalDepth = 1490.913220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.91322 # Seafloor depth:-1530.913220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1531.125588 meters looking forward 0.000000 meters along route # Maximum depth: 1531.125588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.125588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946346; longitude = -129.971803; captureRadius = 10; duration = 136; initialDepth = 1489.964739; finalDepth = 1491.125588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.125588 # Seafloor depth:-1531.125588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1529.964739 meters looking forward 0.000000 meters along route # Maximum depth: 1529.964739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.964739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947246; longitude = -129.971964; captureRadius = 10; duration = 136; initialDepth = 1490.171917; finalDepth = 1489.964739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.964739 # Seafloor depth:-1529.964739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.171917 meters looking forward 0.000000 meters along route # Maximum depth: 1530.171917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.171917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948146; longitude = -129.972125; captureRadius = 10; duration = 136; initialDepth = 1490.302678; finalDepth = 1490.171917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.171917 # Seafloor depth:-1530.171917 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1530.302678 meters looking forward 0.000000 meters along route # Maximum depth: 1530.302678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.302678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949045; longitude = -129.972285; captureRadius = 10; duration = 136; initialDepth = 1489.036835; finalDepth = 1490.302678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.302678 # Seafloor depth:-1530.302678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1529.036835 meters looking forward 0.000000 meters along route # Maximum depth: 1529.036835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.036835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949945; longitude = -129.972446; captureRadius = 10; duration = 136; initialDepth = 1485.911071; finalDepth = 1489.036835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.036835 # Seafloor depth:-1529.036835 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1525.911071 meters looking forward 0.000000 meters along route # Maximum depth: 1525.911071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.911071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950845; longitude = -129.972607; captureRadius = 10; duration = 136; initialDepth = 1485.270642; finalDepth = 1485.911071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.911071 # Seafloor depth:-1525.911071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1525.270642 meters looking forward 0.000000 meters along route # Maximum depth: 1525.270642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.270642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951745; longitude = -129.972768; captureRadius = 10; duration = 136; initialDepth = 1484.552543; finalDepth = 1485.270642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.270642 # Seafloor depth:-1525.270642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.907664 meters # Minimum depth: 1524.552543 meters looking forward 0.000000 meters along route # Maximum depth: 1524.552543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.552543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952645; longitude = -129.972929; captureRadius = 10; duration = 136; initialDepth = 1484.671844; finalDepth = 1484.552543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.552543 # Seafloor depth:-1524.552543 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 136.907664 meters # Minimum depth: 1524.671844 meters looking forward 0.000000 meters along route # Maximum depth: 1524.671844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.671844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953559; longitude = -129.973092; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1484.282101; finalDepth = 1484.671844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.671844 # Seafloor depth:-1524.671844 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1524.282101 meters looking forward 0.000000 meters along route # Maximum depth: 1524.282101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.282101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953693; longitude = -129.973178; captureRadius = 10; duration = 136; initialDepth = 1484.339147; finalDepth = 1484.282101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.282101 # Seafloor depth:-1524.282101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1524.339147 meters looking forward 0.000000 meters along route # Maximum depth: 1524.339147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.339147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954534; longitude = -129.973722; captureRadius = 10; duration = 136; initialDepth = 1483.288087; finalDepth = 1484.339147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.339147 # Seafloor depth:-1524.339147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1523.288087 meters looking forward 0.000000 meters along route # Maximum depth: 1523.288087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.288087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955390; longitude = -129.974275; captureRadius = 10; duration = 136; initialDepth = 1483.338078; finalDepth = 1483.288087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.288087 # Seafloor depth:-1523.288087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1523.338078 meters looking forward 0.000000 meters along route # Maximum depth: 1523.338078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.338078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956244; longitude = -129.974827; captureRadius = 10; duration = 136; initialDepth = 1482.677657; finalDepth = 1483.338078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.338078 # Seafloor depth:-1523.338078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1522.677657 meters looking forward 0.000000 meters along route # Maximum depth: 1522.677657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.677657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957088; longitude = -129.975372; captureRadius = 10; duration = 136; initialDepth = 1482.624521; finalDepth = 1482.677657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.677657 # Seafloor depth:-1522.677657 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1522.624521 meters looking forward 0.000000 meters along route # Maximum depth: 1522.624521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.624521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957909; longitude = -129.975902; captureRadius = 10; duration = 136; initialDepth = 1482.905002; finalDepth = 1482.624521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.624521 # Seafloor depth:-1522.624521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1522.905002 meters looking forward 0.000000 meters along route # Maximum depth: 1522.905002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.905002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958763; longitude = -129.976454; captureRadius = 10; duration = 136; initialDepth = 1484.025974; finalDepth = 1482.905002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.905002 # Seafloor depth:-1522.905002 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1524.025974 meters looking forward 0.000000 meters along route # Maximum depth: 1524.025974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.025974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959584; longitude = -129.976985; captureRadius = 10; duration = 136; initialDepth = 1482.545014; finalDepth = 1484.025974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.025974 # Seafloor depth:-1524.025974 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1522.545014 meters looking forward 0.000000 meters along route # Maximum depth: 1522.545014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.545014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960428; longitude = -129.977530; captureRadius = 10; duration = 136; initialDepth = 1482.705510; finalDepth = 1482.545014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.545014 # Seafloor depth:-1522.545014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1522.705510 meters looking forward 0.000000 meters along route # Maximum depth: 1522.705510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.705510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961283; longitude = -129.978082; captureRadius = 10; duration = 136; initialDepth = 1483.512853; finalDepth = 1482.705510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.70551 # Seafloor depth:-1522.705510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1523.512853 meters looking forward 0.000000 meters along route # Maximum depth: 1523.512853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.512853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962138; longitude = -129.978634; captureRadius = 10; duration = 136; initialDepth = 1484.440368; finalDepth = 1483.512853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.512853 # Seafloor depth:-1523.512853 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1524.440368 meters looking forward 0.000000 meters along route # Maximum depth: 1524.440368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.440368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962993; longitude = -129.979186; captureRadius = 10; duration = 136; initialDepth = 1480.689541; finalDepth = 1484.440368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.440368 # Seafloor depth:-1524.440368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1520.689541 meters looking forward 0.000000 meters along route # Maximum depth: 1520.689541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.689541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963847; longitude = -129.979739; captureRadius = 10; duration = 136; initialDepth = 1470.100847; finalDepth = 1480.689541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.689541 # Seafloor depth:-1520.689541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1510.100847 meters looking forward 0.000000 meters along route # Maximum depth: 1510.100847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.100847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964677; longitude = -129.980275; captureRadius = 10; duration = 136; initialDepth = 1462.590467; finalDepth = 1470.100847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.100847 # Seafloor depth:-1510.100847 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1502.590467 meters looking forward 0.000000 meters along route # Maximum depth: 1502.590467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.590467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965512; longitude = -129.980814; captureRadius = 10; duration = 136; initialDepth = 1462.802304; finalDepth = 1462.590467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.590467 # Seafloor depth:-1502.590467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1502.802304 meters looking forward 0.000000 meters along route # Maximum depth: 1502.802304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.802304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966375; longitude = -129.981371; captureRadius = 10; duration = 136; initialDepth = 1464.538874; finalDepth = 1462.802304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.802304 # Seafloor depth:-1502.802304 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1504.538874 meters looking forward 0.000000 meters along route # Maximum depth: 1504.538874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.538874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967222; longitude = -129.981918; captureRadius = 10; duration = 136; initialDepth = 1466.115680; finalDepth = 1464.538874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.538874 # Seafloor depth:-1504.538874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1506.115680 meters looking forward 0.000000 meters along route # Maximum depth: 1506.115680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.115680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968077; longitude = -129.982471; captureRadius = 10; duration = 136; initialDepth = 1466.234431; finalDepth = 1466.115680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.11568 # Seafloor depth:-1506.115680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1506.234431 meters looking forward 0.000000 meters along route # Maximum depth: 1506.234431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.234431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968931; longitude = -129.983023; captureRadius = 10; duration = 136; initialDepth = 1463.316955; finalDepth = 1466.234431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.234431 # Seafloor depth:-1506.234431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1503.316955 meters looking forward 0.000000 meters along route # Maximum depth: 1503.316955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.316955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969786; longitude = -129.983575; captureRadius = 10; duration = 136; initialDepth = 1458.580874; finalDepth = 1463.316955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.316955 # Seafloor depth:-1503.316955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1498.580874 meters looking forward 0.000000 meters along route # Maximum depth: 1498.580874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.580874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970641; longitude = -129.984127; captureRadius = 10; duration = 136; initialDepth = 1455.012131; finalDepth = 1458.580874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.580874 # Seafloor depth:-1498.580874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1495.012131 meters looking forward 0.000000 meters along route # Maximum depth: 1495.012131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.012131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971467; longitude = -129.984661; captureRadius = 10; duration = 136; initialDepth = 1446.886152; finalDepth = 1455.012131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.012131 # Seafloor depth:-1495.012131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.907664 meters # Minimum depth: 1486.886152 meters looking forward 0.000000 meters along route # Maximum depth: 1486.886152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.886152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972306; longitude = -129.985203; captureRadius = 10; duration = 136; initialDepth = 1446.127411; finalDepth = 1446.886152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.886152 # Seafloor depth:-1486.886152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 136.907664 meters # Minimum depth: 1486.127411 meters looking forward 0.000000 meters along route # Maximum depth: 1486.127411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.127411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973131; longitude = -129.985736; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1445.538470; finalDepth = 1446.127411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.127411 # Seafloor depth:-1486.127411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 136.907664 meters # Minimum depth: 1485.538470 meters looking forward 0.000000 meters along route # Maximum depth: 1485.538470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.538470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972910; longitude = -129.986468; captureRadius = 10; duration = 136; initialDepth = 1444.971588; finalDepth = 1445.538470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1445.53847 # Seafloor depth:-1485.538470 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 136.907664 meters # Minimum depth: 1484.971588 meters looking forward 0.000000 meters along route # Maximum depth: 1484.971588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.971588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972546; longitude = -129.987672; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1444.986883; finalDepth = 1444.971588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.971588 # Seafloor depth:-1484.971588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1484.986883 meters looking forward 0.000000 meters along route # Maximum depth: 1484.986883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.986883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972531; longitude = -129.987662; captureRadius = 10; duration = 136; initialDepth = 1440.986939; finalDepth = 1444.986883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.986883 # Seafloor depth:-1484.986883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1480.986939 meters looking forward 0.000000 meters along route # Maximum depth: 1480.986939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.986939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971668; longitude = -129.987113; captureRadius = 10; duration = 136; initialDepth = 1454.714391; finalDepth = 1440.986939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1440.986939 # Seafloor depth:-1480.986939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1494.714391 meters looking forward 0.000000 meters along route # Maximum depth: 1494.714391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.714391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970821; longitude = -129.986572; captureRadius = 10; duration = 136; initialDepth = 1458.446389; finalDepth = 1454.714391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1454.714391 # Seafloor depth:-1494.714391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1498.446389 meters looking forward 0.000000 meters along route # Maximum depth: 1498.446389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.446389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969966; longitude = -129.986028; captureRadius = 10; duration = 136; initialDepth = 1461.786949; finalDepth = 1458.446389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.446389 # Seafloor depth:-1498.446389 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1501.786949 meters looking forward 0.000000 meters along route # Maximum depth: 1501.786949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.786949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969138; longitude = -129.985500; captureRadius = 10; duration = 136; initialDepth = 1464.732969; finalDepth = 1461.786949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.786949 # Seafloor depth:-1501.786949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1504.732969 meters looking forward 0.000000 meters along route # Maximum depth: 1504.732969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.732969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968302; longitude = -129.984967; captureRadius = 10; duration = 136; initialDepth = 1464.507023; finalDepth = 1464.732969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.732969 # Seafloor depth:-1504.732969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1504.507023 meters looking forward 0.000000 meters along route # Maximum depth: 1504.507023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.507023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967447; longitude = -129.984422; captureRadius = 10; duration = 136; initialDepth = 1465.281424; finalDepth = 1464.507023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.507023 # Seafloor depth:-1504.507023 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1505.281424 meters looking forward 0.000000 meters along route # Maximum depth: 1505.281424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.281424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966608; longitude = -129.983887; captureRadius = 10; duration = 136; initialDepth = 1464.459846; finalDepth = 1465.281424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.281424 # Seafloor depth:-1505.281424 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1504.459846 meters looking forward 0.000000 meters along route # Maximum depth: 1504.459846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.459846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965782; longitude = -129.983361; captureRadius = 10; duration = 136; initialDepth = 1464.313957; finalDepth = 1464.459846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.459846 # Seafloor depth:-1504.459846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1504.313957 meters looking forward 0.000000 meters along route # Maximum depth: 1504.313957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.313957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964927; longitude = -129.982816; captureRadius = 10; duration = 136; initialDepth = 1466.126207; finalDepth = 1464.313957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.313957 # Seafloor depth:-1504.313957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1506.126207 meters looking forward 0.000000 meters along route # Maximum depth: 1506.126207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.126207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964072; longitude = -129.982271; captureRadius = 10; duration = 136; initialDepth = 1469.086496; finalDepth = 1466.126207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.126207 # Seafloor depth:-1506.126207 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1509.086496 meters looking forward 0.000000 meters along route # Maximum depth: 1509.086496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.086496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963218; longitude = -129.981726; captureRadius = 10; duration = 136; initialDepth = 1476.333054; finalDepth = 1469.086496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.086496 # Seafloor depth:-1509.086496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1516.333054 meters looking forward 0.000000 meters along route # Maximum depth: 1516.333054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.333054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962358; longitude = -129.981178; captureRadius = 10; duration = 136; initialDepth = 1478.671794; finalDepth = 1476.333054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.333054 # Seafloor depth:-1516.333054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1518.671794 meters looking forward 0.000000 meters along route # Maximum depth: 1518.671794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.671794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961508; longitude = -129.980636; captureRadius = 10; duration = 136; initialDepth = 1479.184262; finalDepth = 1478.671794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.671794 # Seafloor depth:-1518.671794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1519.184262 meters looking forward 0.000000 meters along route # Maximum depth: 1519.184262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.184262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960653; longitude = -129.980091; captureRadius = 10; duration = 136; initialDepth = 1472.744863; finalDepth = 1479.184262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.184262 # Seafloor depth:-1519.184262 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1512.744863 meters looking forward 0.000000 meters along route # Maximum depth: 1512.744863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.744863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959827; longitude = -129.979565; captureRadius = 10; duration = 136; initialDepth = 1478.269113; finalDepth = 1472.744863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.744863 # Seafloor depth:-1512.744863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1518.269113 meters looking forward 0.000000 meters along route # Maximum depth: 1518.269113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.269113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958988; longitude = -129.979030; captureRadius = 10; duration = 136; initialDepth = 1479.489238; finalDepth = 1478.269113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.269113 # Seafloor depth:-1518.269113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1519.489238 meters looking forward 0.000000 meters along route # Maximum depth: 1519.489238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.489238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958134; longitude = -129.978485; captureRadius = 10; duration = 136; initialDepth = 1480.633624; finalDepth = 1479.489238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.489238 # Seafloor depth:-1519.489238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1520.633624 meters looking forward 0.000000 meters along route # Maximum depth: 1520.633624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.633624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957297; longitude = -129.977952; captureRadius = 10; duration = 136; initialDepth = 1481.204591; finalDepth = 1480.633624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.633624 # Seafloor depth:-1520.633624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1521.204591 meters looking forward 0.000000 meters along route # Maximum depth: 1521.204591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.204591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956469; longitude = -129.977424; captureRadius = 10; duration = 136; initialDepth = 1480.686009; finalDepth = 1481.204591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.204591 # Seafloor depth:-1521.204591 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1520.686009 meters looking forward 0.000000 meters along route # Maximum depth: 1520.686009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.686009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955614; longitude = -129.976879; captureRadius = 10; duration = 136; initialDepth = 1482.524964; finalDepth = 1480.686009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.686009 # Seafloor depth:-1520.686009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1522.524964 meters looking forward 0.000000 meters along route # Maximum depth: 1522.524964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.524964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954759; longitude = -129.976334; captureRadius = 10; duration = 136; initialDepth = 1483.348890; finalDepth = 1482.524964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.524964 # Seafloor depth:-1522.524964 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.907664 meters # Minimum depth: 1523.348890 meters looking forward 0.000000 meters along route # Maximum depth: 1523.348890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.348890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953904; longitude = -129.975789; captureRadius = 10; duration = 136; initialDepth = 1483.531555; finalDepth = 1483.348890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.34889 # Seafloor depth:-1523.348890 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 136.907664 meters # Minimum depth: 1523.531555 meters looking forward 0.000000 meters along route # Maximum depth: 1523.531555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.531555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953080; longitude = -129.975264; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1483.739933; finalDepth = 1483.531555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.531555 # Seafloor depth:-1523.531555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1523.739933 meters looking forward 0.000000 meters along route # Maximum depth: 1523.739933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.739933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952375; longitude = -129.975137; captureRadius = 10; duration = 136; initialDepth = 1484.279348; finalDepth = 1483.739933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.739933 # Seafloor depth:-1523.739933 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1524.279348 meters looking forward 0.000000 meters along route # Maximum depth: 1524.279348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.279348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951475; longitude = -129.974975; captureRadius = 10; duration = 136; initialDepth = 1484.853715; finalDepth = 1484.279348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.279348 # Seafloor depth:-1524.279348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1524.853715 meters looking forward 0.000000 meters along route # Maximum depth: 1524.853715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.853715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950575; longitude = -129.974813; captureRadius = 10; duration = 136; initialDepth = 1488.967838; finalDepth = 1484.853715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.853715 # Seafloor depth:-1524.853715 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1528.967838 meters looking forward 0.000000 meters along route # Maximum depth: 1528.967838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.967838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949675; longitude = -129.974651; captureRadius = 10; duration = 136; initialDepth = 1489.326732; finalDepth = 1488.967838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.967838 # Seafloor depth:-1528.967838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1529.326732 meters looking forward 0.000000 meters along route # Maximum depth: 1529.326732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.326732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948775; longitude = -129.974490; captureRadius = 10; duration = 136; initialDepth = 1487.807437; finalDepth = 1489.326732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.326732 # Seafloor depth:-1529.326732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.807437 meters looking forward 0.000000 meters along route # Maximum depth: 1527.807437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.807437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947876; longitude = -129.974328; captureRadius = 10; duration = 136; initialDepth = 1488.534128; finalDepth = 1487.807437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.807437 # Seafloor depth:-1527.807437 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1528.534128 meters looking forward 0.000000 meters along route # Maximum depth: 1528.534128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.534128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946976; longitude = -129.974166; captureRadius = 10; duration = 136; initialDepth = 1487.193786; finalDepth = 1488.534128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.534128 # Seafloor depth:-1528.534128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.193786 meters looking forward 0.000000 meters along route # Maximum depth: 1527.193786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.193786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946076; longitude = -129.974004; captureRadius = 10; duration = 136; initialDepth = 1487.926922; finalDepth = 1487.193786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.193786 # Seafloor depth:-1527.193786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.926922 meters looking forward 0.000000 meters along route # Maximum depth: 1527.926922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.926922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945176; longitude = -129.973842; captureRadius = 10; duration = 136; initialDepth = 1489.643329; finalDepth = 1487.926922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.926922 # Seafloor depth:-1527.926922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1529.643329 meters looking forward 0.000000 meters along route # Maximum depth: 1529.643329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.643329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944276; longitude = -129.973680; captureRadius = 10; duration = 136; initialDepth = 1488.373032; finalDepth = 1489.643329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.643329 # Seafloor depth:-1529.643329 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1528.373032 meters looking forward 0.000000 meters along route # Maximum depth: 1528.373032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.373032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943376; longitude = -129.973518; captureRadius = 10; duration = 136; initialDepth = 1489.322418; finalDepth = 1488.373032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.373032 # Seafloor depth:-1528.373032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1529.322418 meters looking forward 0.000000 meters along route # Maximum depth: 1529.322418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.322418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942477; longitude = -129.973356; captureRadius = 10; duration = 136; initialDepth = 1487.452691; finalDepth = 1489.322418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.322418 # Seafloor depth:-1529.322418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.452691 meters looking forward 0.000000 meters along route # Maximum depth: 1527.452691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.452691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941577; longitude = -129.973194; captureRadius = 10; duration = 136; initialDepth = 1486.481526; finalDepth = 1487.452691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.452691 # Seafloor depth:-1527.452691 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1526.481526 meters looking forward 0.000000 meters along route # Maximum depth: 1526.481526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.481526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940677; longitude = -129.973033; captureRadius = 10; duration = 136; initialDepth = 1488.351857; finalDepth = 1486.481526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.481526 # Seafloor depth:-1526.481526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1528.351857 meters looking forward 0.000000 meters along route # Maximum depth: 1528.351857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.351857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939777; longitude = -129.972871; captureRadius = 10; duration = 136; initialDepth = 1488.475353; finalDepth = 1488.351857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.351857 # Seafloor depth:-1528.351857 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1528.475353 meters looking forward 0.000000 meters along route # Maximum depth: 1528.475353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.475353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938877; longitude = -129.972709; captureRadius = 10; duration = 136; initialDepth = 1487.966355; finalDepth = 1488.475353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.475353 # Seafloor depth:-1528.475353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.966355 meters looking forward 0.000000 meters along route # Maximum depth: 1527.966355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.966355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937978; longitude = -129.972547; captureRadius = 10; duration = 136; initialDepth = 1486.760071; finalDepth = 1487.966355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.966355 # Seafloor depth:-1527.966355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1526.760071 meters looking forward 0.000000 meters along route # Maximum depth: 1526.760071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.760071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937078; longitude = -129.972385; captureRadius = 10; duration = 136; initialDepth = 1487.057451; finalDepth = 1486.760071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.760071 # Seafloor depth:-1526.760071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.057451 meters looking forward 0.000000 meters along route # Maximum depth: 1527.057451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.057451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936178; longitude = -129.972223; captureRadius = 10; duration = 136; initialDepth = 1487.047131; finalDepth = 1487.057451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.057451 # Seafloor depth:-1527.057451 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1527.047131 meters looking forward 0.000000 meters along route # Maximum depth: 1527.047131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.047131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935278; longitude = -129.972061; captureRadius = 10; duration = 136; initialDepth = 1489.038228; finalDepth = 1487.047131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.047131 # Seafloor depth:-1527.047131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1529.038228 meters looking forward 0.000000 meters along route # Maximum depth: 1529.038228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.038228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934378; longitude = -129.971899; captureRadius = 10; duration = 136; initialDepth = 1490.012793; finalDepth = 1489.038228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.038228 # Seafloor depth:-1529.038228 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1530.012793 meters looking forward 0.000000 meters along route # Maximum depth: 1530.012793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.012793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933478; longitude = -129.971737; captureRadius = 10; duration = 136; initialDepth = 1490.504752; finalDepth = 1490.012793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.012793 # Seafloor depth:-1530.012793 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1530.504752 meters looking forward 0.000000 meters along route # Maximum depth: 1530.504752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.504752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932579; longitude = -129.971576; captureRadius = 10; duration = 136; initialDepth = 1489.541653; finalDepth = 1490.504752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.504752 # Seafloor depth:-1530.504752 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1529.541653 meters looking forward 0.000000 meters along route # Maximum depth: 1529.541653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.541653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931679; longitude = -129.971414; captureRadius = 10; duration = 136; initialDepth = 1490.847593; finalDepth = 1489.541653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.541653 # Seafloor depth:-1529.541653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1530.847593 meters looking forward 0.000000 meters along route # Maximum depth: 1530.847593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.847593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930779; longitude = -129.971252; captureRadius = 10; duration = 136; initialDepth = 1492.848936; finalDepth = 1490.847593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.847593 # Seafloor depth:-1530.847593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1532.848936 meters looking forward 0.000000 meters along route # Maximum depth: 1532.848936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.848936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929879; longitude = -129.971090; captureRadius = 10; duration = 136; initialDepth = 1493.274390; finalDepth = 1492.848936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.848936 # Seafloor depth:-1532.848936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1533.274390 meters looking forward 0.000000 meters along route # Maximum depth: 1533.274390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.274390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928979; longitude = -129.970928; captureRadius = 10; duration = 136; initialDepth = 1495.035174; finalDepth = 1493.274390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.27439 # Seafloor depth:-1533.274390 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1535.035174 meters looking forward 0.000000 meters along route # Maximum depth: 1535.035174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.035174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928080; longitude = -129.970766; captureRadius = 10; duration = 136; initialDepth = 1493.797128; finalDepth = 1495.035174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.035174 # Seafloor depth:-1535.035174 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1533.797128 meters looking forward 0.000000 meters along route # Maximum depth: 1533.797128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.797128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927180; longitude = -129.970604; captureRadius = 10; duration = 136; initialDepth = 1499.811635; finalDepth = 1493.797128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.797128 # Seafloor depth:-1533.797128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1539.811635 meters looking forward 0.000000 meters along route # Maximum depth: 1539.811635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.811635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926280; longitude = -129.970442; captureRadius = 10; duration = 136; initialDepth = 1502.118451; finalDepth = 1499.811635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.811635 # Seafloor depth:-1539.811635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1542.118451 meters looking forward 0.000000 meters along route # Maximum depth: 1542.118451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.118451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925380; longitude = -129.970280; captureRadius = 10; duration = 136; initialDepth = 1501.470131; finalDepth = 1502.118451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.118451 # Seafloor depth:-1542.118451 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1541.470131 meters looking forward 0.000000 meters along route # Maximum depth: 1541.470131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.470131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924480; longitude = -129.970118; captureRadius = 10; duration = 136; initialDepth = 1502.633486; finalDepth = 1501.470131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.470131 # Seafloor depth:-1541.470131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1542.633486 meters looking forward 0.000000 meters along route # Maximum depth: 1542.633486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.633486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923580; longitude = -129.969957; captureRadius = 10; duration = 136; initialDepth = 1505.680707; finalDepth = 1502.633486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.633486 # Seafloor depth:-1542.633486 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1545.680707 meters looking forward 0.000000 meters along route # Maximum depth: 1545.680707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.680707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922681; longitude = -129.969795; captureRadius = 10; duration = 136; initialDepth = 1507.552171; finalDepth = 1505.680707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.680707 # Seafloor depth:-1545.680707 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1547.552171 meters looking forward 0.000000 meters along route # Maximum depth: 1547.552171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.552171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921781; longitude = -129.969633; captureRadius = 10; duration = 136; initialDepth = 1509.796180; finalDepth = 1507.552171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.552171 # Seafloor depth:-1547.552171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1549.796180 meters looking forward 0.000000 meters along route # Maximum depth: 1549.796180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.796180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920881; longitude = -129.969471; captureRadius = 10; duration = 136; initialDepth = 1511.947220; finalDepth = 1509.796180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.79618 # Seafloor depth:-1549.796180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1551.947220 meters looking forward 0.000000 meters along route # Maximum depth: 1551.947220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.947220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919975; longitude = -129.969308; captureRadius = 10; duration = 136; initialDepth = 1514.092363; finalDepth = 1511.947220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.94722 # Seafloor depth:-1551.947220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1554.092363 meters looking forward 0.000000 meters along route # Maximum depth: 1554.092363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.092363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919081; longitude = -129.969147; captureRadius = 10; duration = 136; initialDepth = 1514.385095; finalDepth = 1514.092363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.092363 # Seafloor depth:-1554.092363 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1554.385095 meters looking forward 0.000000 meters along route # Maximum depth: 1554.385095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.385095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918181; longitude = -129.968985; captureRadius = 10; duration = 136; initialDepth = 1519.613259; finalDepth = 1514.385095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.385095 # Seafloor depth:-1554.385095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1559.613259 meters looking forward 0.000000 meters along route # Maximum depth: 1559.613259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.613259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917282; longitude = -129.968823; captureRadius = 10; duration = 136; initialDepth = 1524.004486; finalDepth = 1519.613259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.613259 # Seafloor depth:-1559.613259 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1564.004486 meters looking forward 0.000000 meters along route # Maximum depth: 1564.004486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.004486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916382; longitude = -129.968661; captureRadius = 10; duration = 136; initialDepth = 1525.614078; finalDepth = 1524.004486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.004486 # Seafloor depth:-1564.004486 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1565.614078 meters looking forward 0.000000 meters along route # Maximum depth: 1565.614078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.614078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915482; longitude = -129.968500; captureRadius = 10; duration = 136; initialDepth = 1527.025916; finalDepth = 1525.614078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.614078 # Seafloor depth:-1565.614078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1567.025916 meters looking forward 0.000000 meters along route # Maximum depth: 1567.025916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.025916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914582; longitude = -129.968338; captureRadius = 10; duration = 136; initialDepth = 1528.743136; finalDepth = 1527.025916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.025916 # Seafloor depth:-1567.025916 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1568.743136 meters looking forward 0.000000 meters along route # Maximum depth: 1568.743136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.743136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913682; longitude = -129.968176; captureRadius = 10; duration = 136; initialDepth = 1530.140153; finalDepth = 1528.743136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.743136 # Seafloor depth:-1568.743136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1570.140153 meters looking forward 0.000000 meters along route # Maximum depth: 1570.140153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.140153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912783; longitude = -129.968014; captureRadius = 10; duration = 136; initialDepth = 1533.064464; finalDepth = 1530.140153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1530.140153 # Seafloor depth:-1570.140153 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1573.064464 meters looking forward 0.000000 meters along route # Maximum depth: 1573.064464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.064464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911883; longitude = -129.967852; captureRadius = 10; duration = 136; initialDepth = 1531.445797; finalDepth = 1533.064464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.064464 # Seafloor depth:-1573.064464 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1571.445797 meters looking forward 0.000000 meters along route # Maximum depth: 1571.445797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.445797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910983; longitude = -129.967690; captureRadius = 10; duration = 136; initialDepth = 1533.464562; finalDepth = 1531.445797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.445797 # Seafloor depth:-1571.445797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1573.464562 meters looking forward 0.000000 meters along route # Maximum depth: 1573.464562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.464562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910083; longitude = -129.967528; captureRadius = 10; duration = 136; initialDepth = 1540.281085; finalDepth = 1533.464562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.464562 # Seafloor depth:-1573.464562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1580.281085 meters looking forward 0.000000 meters along route # Maximum depth: 1580.281085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.281085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909183; longitude = -129.967366; captureRadius = 10; duration = 136; initialDepth = 1548.273136; finalDepth = 1540.281085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1540.281085 # Seafloor depth:-1580.281085 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1588.273136 meters looking forward 0.000000 meters along route # Maximum depth: 1588.273136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.273136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908283; longitude = -129.967204; captureRadius = 10; duration = 136; initialDepth = 1552.033003; finalDepth = 1548.273136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1548.273136 # Seafloor depth:-1588.273136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.907664 meters # Minimum depth: 1592.033003 meters looking forward 0.000000 meters along route # Maximum depth: 1592.033003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.033003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907384; longitude = -129.967043; captureRadius = 10; duration = 136; initialDepth = 1552.356110; finalDepth = 1552.033003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.033003 # Seafloor depth:-1592.033003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 136.907664 meters # Minimum depth: 1592.356110 meters looking forward 0.000000 meters along route # Maximum depth: 1592.356110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.356110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906469; longitude = -129.966878; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1548.207062; finalDepth = 1552.356110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.35611 # Seafloor depth:-1592.356110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.907664 meters # Minimum depth: 1588.207062 meters looking forward 0.000000 meters along route # Maximum depth: 1588.207062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.207062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906451; longitude = -129.967760; captureRadius = 10; duration = 136; initialDepth = 1543.508026; finalDepth = 1548.207062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1548.207062 # Seafloor depth:-1588.207062 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 136.907664 meters # Minimum depth: 1583.508026 meters looking forward 0.000000 meters along route # Maximum depth: 1583.508026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.508026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906424; longitude = -129.969071; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1542.951493; finalDepth = 1543.508026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.508026 # Seafloor depth:-1583.508026 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1582.951493 meters looking forward 0.000000 meters along route # Maximum depth: 1582.951493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.951493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906574; longitude = -129.969098; captureRadius = 10; duration = 136; initialDepth = 1540.658533; finalDepth = 1542.951493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1542.951493 # Seafloor depth:-1582.951493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1580.658533 meters looking forward 0.000000 meters along route # Maximum depth: 1580.658533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.658533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907474; longitude = -129.969257; captureRadius = 10; duration = 136; initialDepth = 1536.035393; finalDepth = 1540.658533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1540.658533 # Seafloor depth:-1580.658533 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1576.035393 meters looking forward 0.000000 meters along route # Maximum depth: 1576.035393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.035393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908373; longitude = -129.969416; captureRadius = 10; duration = 136; initialDepth = 1532.978488; finalDepth = 1536.035393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1536.035393 # Seafloor depth:-1576.035393 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1572.978488 meters looking forward 0.000000 meters along route # Maximum depth: 1572.978488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.978488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909273; longitude = -129.969575; captureRadius = 10; duration = 136; initialDepth = 1532.109505; finalDepth = 1532.978488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.978488 # Seafloor depth:-1572.978488 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1572.109505 meters looking forward 0.000000 meters along route # Maximum depth: 1572.109505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.109505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910173; longitude = -129.969734; captureRadius = 10; duration = 136; initialDepth = 1528.356200; finalDepth = 1532.109505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.109505 # Seafloor depth:-1572.109505 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1568.356200 meters looking forward 0.000000 meters along route # Maximum depth: 1568.356200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.356200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911073; longitude = -129.969894; captureRadius = 10; duration = 136; initialDepth = 1525.263912; finalDepth = 1528.356200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.3562 # Seafloor depth:-1568.356200 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1565.263912 meters looking forward 0.000000 meters along route # Maximum depth: 1565.263912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.263912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911973; longitude = -129.970053; captureRadius = 10; duration = 136; initialDepth = 1525.177745; finalDepth = 1525.263912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.263912 # Seafloor depth:-1565.263912 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1565.177745 meters looking forward 0.000000 meters along route # Maximum depth: 1565.177745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.177745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912873; longitude = -129.970212; captureRadius = 10; duration = 136; initialDepth = 1524.009822; finalDepth = 1525.177745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.177745 # Seafloor depth:-1565.177745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1564.009822 meters looking forward 0.000000 meters along route # Maximum depth: 1564.009822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.009822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913772; longitude = -129.970371; captureRadius = 10; duration = 136; initialDepth = 1524.667924; finalDepth = 1524.009822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.009822 # Seafloor depth:-1564.009822 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1564.667924 meters looking forward 0.000000 meters along route # Maximum depth: 1564.667924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.667924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914672; longitude = -129.970531; captureRadius = 10; duration = 136; initialDepth = 1523.323979; finalDepth = 1524.667924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.667924 # Seafloor depth:-1564.667924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1563.323979 meters looking forward 0.000000 meters along route # Maximum depth: 1563.323979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.323979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915572; longitude = -129.970690; captureRadius = 10; duration = 136; initialDepth = 1520.932183; finalDepth = 1523.323979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.323979 # Seafloor depth:-1563.323979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1560.932183 meters looking forward 0.000000 meters along route # Maximum depth: 1560.932183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.932183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916472; longitude = -129.970849; captureRadius = 10; duration = 136; initialDepth = 1517.677848; finalDepth = 1520.932183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.932183 # Seafloor depth:-1560.932183 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1557.677848 meters looking forward 0.000000 meters along route # Maximum depth: 1557.677848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.677848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917372; longitude = -129.971008; captureRadius = 10; duration = 136; initialDepth = 1514.147629; finalDepth = 1517.677848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.677848 # Seafloor depth:-1557.677848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1554.147629 meters looking forward 0.000000 meters along route # Maximum depth: 1554.147629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.147629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918271; longitude = -129.971168; captureRadius = 10; duration = 136; initialDepth = 1512.332619; finalDepth = 1514.147629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.147629 # Seafloor depth:-1554.147629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1552.332619 meters looking forward 0.000000 meters along route # Maximum depth: 1552.332619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.332619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919171; longitude = -129.971327; captureRadius = 10; duration = 136; initialDepth = 1509.913544; finalDepth = 1512.332619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.332619 # Seafloor depth:-1552.332619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1549.913544 meters looking forward 0.000000 meters along route # Maximum depth: 1549.913544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.913544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920071; longitude = -129.971486; captureRadius = 10; duration = 136; initialDepth = 1508.992094; finalDepth = 1509.913544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.913544 # Seafloor depth:-1549.913544 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1548.992094 meters looking forward 0.000000 meters along route # Maximum depth: 1548.992094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.992094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920971; longitude = -129.971645; captureRadius = 10; duration = 136; initialDepth = 1503.889629; finalDepth = 1508.992094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.992094 # Seafloor depth:-1548.992094 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1543.889629 meters looking forward 0.000000 meters along route # Maximum depth: 1543.889629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.889629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921871; longitude = -129.971804; captureRadius = 10; duration = 136; initialDepth = 1500.424014; finalDepth = 1503.889629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.889629 # Seafloor depth:-1543.889629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1540.424014 meters looking forward 0.000000 meters along route # Maximum depth: 1540.424014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.424014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922771; longitude = -129.971964; captureRadius = 10; duration = 136; initialDepth = 1499.746949; finalDepth = 1500.424014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.424014 # Seafloor depth:-1540.424014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1539.746949 meters looking forward 0.000000 meters along route # Maximum depth: 1539.746949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.746949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923670; longitude = -129.972123; captureRadius = 10; duration = 136; initialDepth = 1498.958813; finalDepth = 1499.746949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.746949 # Seafloor depth:-1539.746949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1538.958813 meters looking forward 0.000000 meters along route # Maximum depth: 1538.958813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.958813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924570; longitude = -129.972282; captureRadius = 10; duration = 136; initialDepth = 1498.961130; finalDepth = 1498.958813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.958813 # Seafloor depth:-1538.958813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1538.961130 meters looking forward 0.000000 meters along route # Maximum depth: 1538.961130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.961130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925470; longitude = -129.972441; captureRadius = 10; duration = 136; initialDepth = 1495.823975; finalDepth = 1498.961130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.96113 # Seafloor depth:-1538.961130 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1535.823975 meters looking forward 0.000000 meters along route # Maximum depth: 1535.823975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.823975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926370; longitude = -129.972601; captureRadius = 10; duration = 136; initialDepth = 1492.604648; finalDepth = 1495.823975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.823975 # Seafloor depth:-1535.823975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1532.604648 meters looking forward 0.000000 meters along route # Maximum depth: 1532.604648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.604648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927270; longitude = -129.972760; captureRadius = 10; duration = 136; initialDepth = 1490.333036; finalDepth = 1492.604648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.604648 # Seafloor depth:-1532.604648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1530.333036 meters looking forward 0.000000 meters along route # Maximum depth: 1530.333036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.333036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928169; longitude = -129.972919; captureRadius = 10; duration = 136; initialDepth = 1491.158938; finalDepth = 1490.333036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.333036 # Seafloor depth:-1530.333036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1531.158938 meters looking forward 0.000000 meters along route # Maximum depth: 1531.158938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.158938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929069; longitude = -129.973078; captureRadius = 10; duration = 136; initialDepth = 1488.924108; finalDepth = 1491.158938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.158938 # Seafloor depth:-1531.158938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1528.924108 meters looking forward 0.000000 meters along route # Maximum depth: 1528.924108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.924108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929969; longitude = -129.973238; captureRadius = 10; duration = 136; initialDepth = 1488.623873; finalDepth = 1488.924108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.924108 # Seafloor depth:-1528.924108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1528.623873 meters looking forward 0.000000 meters along route # Maximum depth: 1528.623873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.623873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930869; longitude = -129.973397; captureRadius = 10; duration = 136; initialDepth = 1487.963417; finalDepth = 1488.623873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.623873 # Seafloor depth:-1528.623873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1527.963417 meters looking forward 0.000000 meters along route # Maximum depth: 1527.963417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.963417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931769; longitude = -129.973556; captureRadius = 10; duration = 136; initialDepth = 1487.518287; finalDepth = 1487.963417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.963417 # Seafloor depth:-1527.963417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1527.518287 meters looking forward 0.000000 meters along route # Maximum depth: 1527.518287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.518287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932669; longitude = -129.973715; captureRadius = 10; duration = 136; initialDepth = 1486.046672; finalDepth = 1487.518287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.518287 # Seafloor depth:-1527.518287 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1526.046672 meters looking forward 0.000000 meters along route # Maximum depth: 1526.046672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.046672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933568; longitude = -129.973874; captureRadius = 10; duration = 136; initialDepth = 1484.176492; finalDepth = 1486.046672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.046672 # Seafloor depth:-1526.046672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1524.176492 meters looking forward 0.000000 meters along route # Maximum depth: 1524.176492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.176492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934468; longitude = -129.974034; captureRadius = 10; duration = 136; initialDepth = 1484.422168; finalDepth = 1484.176492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.176492 # Seafloor depth:-1524.176492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1524.422168 meters looking forward 0.000000 meters along route # Maximum depth: 1524.422168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.422168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935368; longitude = -129.974193; captureRadius = 10; duration = 136; initialDepth = 1482.841818; finalDepth = 1484.422168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.422168 # Seafloor depth:-1524.422168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1522.841818 meters looking forward 0.000000 meters along route # Maximum depth: 1522.841818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.841818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936268; longitude = -129.974352; captureRadius = 10; duration = 136; initialDepth = 1483.924994; finalDepth = 1482.841818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.841818 # Seafloor depth:-1522.841818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1523.924994 meters looking forward 0.000000 meters along route # Maximum depth: 1523.924994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.924994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937168; longitude = -129.974511; captureRadius = 10; duration = 136; initialDepth = 1486.135943; finalDepth = 1483.924994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.924994 # Seafloor depth:-1523.924994 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1526.135943 meters looking forward 0.000000 meters along route # Maximum depth: 1526.135943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.135943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938068; longitude = -129.974671; captureRadius = 10; duration = 136; initialDepth = 1482.590484; finalDepth = 1486.135943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.135943 # Seafloor depth:-1526.135943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1522.590484 meters looking forward 0.000000 meters along route # Maximum depth: 1522.590484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.590484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938967; longitude = -129.974830; captureRadius = 10; duration = 136; initialDepth = 1480.560608; finalDepth = 1482.590484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.590484 # Seafloor depth:-1522.590484 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1520.560608 meters looking forward 0.000000 meters along route # Maximum depth: 1520.560608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.560608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939867; longitude = -129.974989; captureRadius = 10; duration = 136; initialDepth = 1480.766761; finalDepth = 1480.560608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.560608 # Seafloor depth:-1520.560608 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1520.766761 meters looking forward 0.000000 meters along route # Maximum depth: 1520.766761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.766761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940767; longitude = -129.975148; captureRadius = 10; duration = 136; initialDepth = 1478.398938; finalDepth = 1480.766761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.766761 # Seafloor depth:-1520.766761 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1518.398938 meters looking forward 0.000000 meters along route # Maximum depth: 1518.398938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.398938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941667; longitude = -129.975308; captureRadius = 10; duration = 136; initialDepth = 1480.122219; finalDepth = 1478.398938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.398938 # Seafloor depth:-1518.398938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1520.122219 meters looking forward 0.000000 meters along route # Maximum depth: 1520.122219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.122219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942567; longitude = -129.975467; captureRadius = 10; duration = 136; initialDepth = 1481.516051; finalDepth = 1480.122219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.122219 # Seafloor depth:-1520.122219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1521.516051 meters looking forward 0.000000 meters along route # Maximum depth: 1521.516051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.516051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943466; longitude = -129.975626; captureRadius = 10; duration = 136; initialDepth = 1481.041274; finalDepth = 1481.516051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.516051 # Seafloor depth:-1521.516051 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1521.041274 meters looking forward 0.000000 meters along route # Maximum depth: 1521.041274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.041274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944366; longitude = -129.975785; captureRadius = 10; duration = 136; initialDepth = 1483.262717; finalDepth = 1481.041274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.041274 # Seafloor depth:-1521.041274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1523.262717 meters looking forward 0.000000 meters along route # Maximum depth: 1523.262717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.262717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945266; longitude = -129.975944; captureRadius = 10; duration = 136; initialDepth = 1480.509432; finalDepth = 1483.262717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.262717 # Seafloor depth:-1523.262717 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1520.509432 meters looking forward 0.000000 meters along route # Maximum depth: 1520.509432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.509432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946166; longitude = -129.976104; captureRadius = 10; duration = 136; initialDepth = 1479.684753; finalDepth = 1480.509432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.509432 # Seafloor depth:-1520.509432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1519.684753 meters looking forward 0.000000 meters along route # Maximum depth: 1519.684753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.684753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947066; longitude = -129.976263; captureRadius = 10; duration = 136; initialDepth = 1474.640748; finalDepth = 1479.684753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.684753 # Seafloor depth:-1519.684753 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1514.640748 meters looking forward 0.000000 meters along route # Maximum depth: 1514.640748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.640748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947966; longitude = -129.976422; captureRadius = 10; duration = 136; initialDepth = 1481.536887; finalDepth = 1474.640748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.640748 # Seafloor depth:-1514.640748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1521.536887 meters looking forward 0.000000 meters along route # Maximum depth: 1521.536887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.536887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948865; longitude = -129.976581; captureRadius = 10; duration = 136; initialDepth = 1482.739266; finalDepth = 1481.536887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.536887 # Seafloor depth:-1521.536887 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1522.739266 meters looking forward 0.000000 meters along route # Maximum depth: 1522.739266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.739266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949765; longitude = -129.976741; captureRadius = 10; duration = 136; initialDepth = 1482.097326; finalDepth = 1482.739266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.739266 # Seafloor depth:-1522.739266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1522.097326 meters looking forward 0.000000 meters along route # Maximum depth: 1522.097326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.097326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950665; longitude = -129.976900; captureRadius = 10; duration = 136; initialDepth = 1478.174027; finalDepth = 1482.097326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.097326 # Seafloor depth:-1522.097326 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.907664 meters # Minimum depth: 1518.174027 meters looking forward 0.000000 meters along route # Maximum depth: 1518.174027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.174027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951565; longitude = -129.977059; captureRadius = 10; duration = 136; initialDepth = 1479.582642; finalDepth = 1478.174027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.174027 # Seafloor depth:-1518.174027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 136.907664 meters # Minimum depth: 1519.582642 meters looking forward 0.000000 meters along route # Maximum depth: 1519.582642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.582642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952480; longitude = -129.977221; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1478.802929; finalDepth = 1479.582642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.582642 # Seafloor depth:-1519.582642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1518.802929 meters looking forward 0.000000 meters along route # Maximum depth: 1518.802929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.802929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953324; longitude = -129.977759; captureRadius = 10; duration = 136; initialDepth = 1476.682018; finalDepth = 1478.802929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.802929 # Seafloor depth:-1518.802929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1516.682018 meters looking forward 0.000000 meters along route # Maximum depth: 1516.682018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.682018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954174; longitude = -129.978301; captureRadius = 10; duration = 136; initialDepth = 1477.098962; finalDepth = 1476.682018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.682018 # Seafloor depth:-1516.682018 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1517.098962 meters looking forward 0.000000 meters along route # Maximum depth: 1517.098962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.098962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955029; longitude = -129.978846; captureRadius = 10; duration = 136; initialDepth = 1477.896534; finalDepth = 1477.098962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.098962 # Seafloor depth:-1517.098962 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1517.896534 meters looking forward 0.000000 meters along route # Maximum depth: 1517.896534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.896534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955854; longitude = -129.979371; captureRadius = 10; duration = 136; initialDepth = 1479.349840; finalDepth = 1477.896534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.896534 # Seafloor depth:-1517.896534 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1519.349840 meters looking forward 0.000000 meters along route # Maximum depth: 1519.349840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.349840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956694; longitude = -129.979906; captureRadius = 10; duration = 136; initialDepth = 1478.211821; finalDepth = 1479.349840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.34984 # Seafloor depth:-1519.349840 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1518.211821 meters looking forward 0.000000 meters along route # Maximum depth: 1518.211821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.211821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957549; longitude = -129.980451; captureRadius = 10; duration = 136; initialDepth = 1477.710920; finalDepth = 1478.211821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.211821 # Seafloor depth:-1518.211821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1517.710920 meters looking forward 0.000000 meters along route # Maximum depth: 1517.710920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.710920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958385; longitude = -129.980984; captureRadius = 10; duration = 136; initialDepth = 1474.938414; finalDepth = 1477.710920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.71092 # Seafloor depth:-1517.710920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1514.938414 meters looking forward 0.000000 meters along route # Maximum depth: 1514.938414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.938414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959213; longitude = -129.981512; captureRadius = 10; duration = 136; initialDepth = 1472.318600; finalDepth = 1474.938414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.938414 # Seafloor depth:-1514.938414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1512.318600 meters looking forward 0.000000 meters along route # Maximum depth: 1512.318600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.318600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960068; longitude = -129.982057; captureRadius = 10; duration = 136; initialDepth = 1472.219519; finalDepth = 1472.318600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.3186 # Seafloor depth:-1512.318600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1512.219519 meters looking forward 0.000000 meters along route # Maximum depth: 1512.219519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.219519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960923; longitude = -129.982601; captureRadius = 10; duration = 136; initialDepth = 1469.542755; finalDepth = 1472.219519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.219519 # Seafloor depth:-1512.219519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1509.542755 meters looking forward 0.000000 meters along route # Maximum depth: 1509.542755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.542755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961778; longitude = -129.983146; captureRadius = 10; duration = 136; initialDepth = 1467.101778; finalDepth = 1469.542755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.542755 # Seafloor depth:-1509.542755 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1507.101778 meters looking forward 0.000000 meters along route # Maximum depth: 1507.101778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.101778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962637; longitude = -129.983694; captureRadius = 10; duration = 136; initialDepth = 1464.889790; finalDepth = 1467.101778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.101778 # Seafloor depth:-1507.101778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1504.889790 meters looking forward 0.000000 meters along route # Maximum depth: 1504.889790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.889790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963488; longitude = -129.984236; captureRadius = 10; duration = 136; initialDepth = 1459.418959; finalDepth = 1464.889790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.88979 # Seafloor depth:-1504.889790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1499.418959 meters looking forward 0.000000 meters along route # Maximum depth: 1499.418959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.418959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964342; longitude = -129.984781; captureRadius = 10; duration = 136; initialDepth = 1455.930995; finalDepth = 1459.418959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.418959 # Seafloor depth:-1499.418959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1495.930995 meters looking forward 0.000000 meters along route # Maximum depth: 1495.930995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.930995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965167; longitude = -129.985306; captureRadius = 10; duration = 136; initialDepth = 1460.875141; finalDepth = 1455.930995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.930995 # Seafloor depth:-1495.930995 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1500.875141 meters looking forward 0.000000 meters along route # Maximum depth: 1500.875141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.875141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966007; longitude = -129.985841; captureRadius = 10; duration = 136; initialDepth = 1458.217002; finalDepth = 1460.875141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.875141 # Seafloor depth:-1500.875141 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1498.217002 meters looking forward 0.000000 meters along route # Maximum depth: 1498.217002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.217002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966862; longitude = -129.986386; captureRadius = 10; duration = 136; initialDepth = 1457.612649; finalDepth = 1458.217002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.217002 # Seafloor depth:-1498.217002 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1497.612649 meters looking forward 0.000000 meters along route # Maximum depth: 1497.612649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.612649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967698; longitude = -129.986919; captureRadius = 10; duration = 136; initialDepth = 1458.465781; finalDepth = 1457.612649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.612649 # Seafloor depth:-1497.612649 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1498.465781 meters looking forward 0.000000 meters along route # Maximum depth: 1498.465781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.465781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968527; longitude = -129.987447; captureRadius = 10; duration = 136; initialDepth = 1453.803162; finalDepth = 1458.465781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.465781 # Seafloor depth:-1498.465781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1493.803162 meters looking forward 0.000000 meters along route # Maximum depth: 1493.803162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.803162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969381; longitude = -129.987992; captureRadius = 10; duration = 136; initialDepth = 1447.430479; finalDepth = 1453.803162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.803162 # Seafloor depth:-1493.803162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1487.430479 meters looking forward 0.000000 meters along route # Maximum depth: 1487.430479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.430479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970236; longitude = -129.988536; captureRadius = 10; duration = 136; initialDepth = 1438.959687; finalDepth = 1447.430479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.430479 # Seafloor depth:-1487.430479 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.907664 meters # Minimum depth: 1478.959687 meters looking forward 0.000000 meters along route # Maximum depth: 1478.959687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.959687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971091; longitude = -129.989081; captureRadius = 10; duration = 136; initialDepth = 1439.002808; finalDepth = 1438.959687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.959687 # Seafloor depth:-1478.959687 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 136.907664 meters # Minimum depth: 1479.002808 meters looking forward 0.000000 meters along route # Maximum depth: 1479.002808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.002808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971916; longitude = -129.989607; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1439.257385; finalDepth = 1439.002808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.002808 # Seafloor depth:-1479.002808 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 136.907664 meters # Minimum depth: 1479.257385 meters looking forward 0.000000 meters along route # Maximum depth: 1479.257385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.257385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971695; longitude = -129.990338; captureRadius = 10; duration = 136; initialDepth = 1435.238586; finalDepth = 1439.257385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.257385 # Seafloor depth:-1479.257385 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 136.907664 meters # Minimum depth: 1475.238586 meters looking forward 0.000000 meters along route # Maximum depth: 1475.238586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.238586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971331; longitude = -129.991542; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1438.730460; finalDepth = 1435.238586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1435.238586 # Seafloor depth:-1475.238586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1478.730460 meters looking forward 0.000000 meters along route # Maximum depth: 1478.730460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.730460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970596; longitude = -129.991079; captureRadius = 10; duration = 136; initialDepth = 1446.940118; finalDepth = 1438.730460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.73046 # Seafloor depth:-1478.730460 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1486.940118 meters looking forward 0.000000 meters along route # Maximum depth: 1486.940118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.940118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969728; longitude = -129.990532; captureRadius = 10; duration = 136; initialDepth = 1448.853475; finalDepth = 1446.940118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.940118 # Seafloor depth:-1486.940118 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1488.853475 meters looking forward 0.000000 meters along route # Maximum depth: 1488.853475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.853475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968886; longitude = -129.990001; captureRadius = 10; duration = 136; initialDepth = 1451.391999; finalDepth = 1448.853475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1448.853475 # Seafloor depth:-1488.853475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1491.391999 meters looking forward 0.000000 meters along route # Maximum depth: 1491.391999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.391999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968032; longitude = -129.989463; captureRadius = 10; duration = 136; initialDepth = 1452.135215; finalDepth = 1451.391999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.391999 # Seafloor depth:-1491.391999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1492.135215 meters looking forward 0.000000 meters along route # Maximum depth: 1492.135215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.135215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967177; longitude = -129.988924; captureRadius = 10; duration = 136; initialDepth = 1455.311430; finalDepth = 1452.135215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.135215 # Seafloor depth:-1492.135215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1495.311430 meters looking forward 0.000000 meters along route # Maximum depth: 1495.311430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.311430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966350; longitude = -129.988403; captureRadius = 10; duration = 136; initialDepth = 1456.795547; finalDepth = 1455.311430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.31143 # Seafloor depth:-1495.311430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1496.795547 meters looking forward 0.000000 meters along route # Maximum depth: 1496.795547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.795547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965512; longitude = -129.987875; captureRadius = 10; duration = 136; initialDepth = 1455.516065; finalDepth = 1456.795547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.795547 # Seafloor depth:-1496.795547 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1495.516065 meters looking forward 0.000000 meters along route # Maximum depth: 1495.516065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.516065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964657; longitude = -129.987336; captureRadius = 10; duration = 136; initialDepth = 1456.072870; finalDepth = 1455.516065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.516065 # Seafloor depth:-1495.516065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1496.072870 meters looking forward 0.000000 meters along route # Maximum depth: 1496.072870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.072870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963791; longitude = -129.986790; captureRadius = 10; duration = 136; initialDepth = 1458.423853; finalDepth = 1456.072870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.07287 # Seafloor depth:-1496.072870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1498.423853 meters looking forward 0.000000 meters along route # Maximum depth: 1498.423853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.423853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962948; longitude = -129.986259; captureRadius = 10; duration = 136; initialDepth = 1464.094736; finalDepth = 1458.423853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.423853 # Seafloor depth:-1498.423853 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1504.094736 meters looking forward 0.000000 meters along route # Maximum depth: 1504.094736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.094736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962093; longitude = -129.985720; captureRadius = 10; duration = 136; initialDepth = 1465.957034; finalDepth = 1464.094736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.094736 # Seafloor depth:-1504.094736 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1505.957034 meters looking forward 0.000000 meters along route # Maximum depth: 1505.957034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.957034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961238; longitude = -129.985181; captureRadius = 10; duration = 136; initialDepth = 1467.238611; finalDepth = 1465.957034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.957034 # Seafloor depth:-1505.957034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1507.238611 meters looking forward 0.000000 meters along route # Maximum depth: 1507.238611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.238611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960413; longitude = -129.984661; captureRadius = 10; duration = 136; initialDepth = 1468.015624; finalDepth = 1467.238611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.238611 # Seafloor depth:-1507.238611 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1508.015624 meters looking forward 0.000000 meters along route # Maximum depth: 1508.015624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.015624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959573; longitude = -129.984132; captureRadius = 10; duration = 136; initialDepth = 1468.535771; finalDepth = 1468.015624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.015624 # Seafloor depth:-1508.015624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1508.535771 meters looking forward 0.000000 meters along route # Maximum depth: 1508.535771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.535771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958718; longitude = -129.983593; captureRadius = 10; duration = 136; initialDepth = 1473.944710; finalDepth = 1468.535771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.535771 # Seafloor depth:-1508.535771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1513.944710 meters looking forward 0.000000 meters along route # Maximum depth: 1513.944710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.944710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957864; longitude = -129.983055; captureRadius = 10; duration = 136; initialDepth = 1473.691935; finalDepth = 1473.944710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.94471 # Seafloor depth:-1513.944710 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1513.691935 meters looking forward 0.000000 meters along route # Maximum depth: 1513.691935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.691935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957035; longitude = -129.982532; captureRadius = 10; duration = 136; initialDepth = 1475.052845; finalDepth = 1473.691935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.691935 # Seafloor depth:-1513.691935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1515.052845 meters looking forward 0.000000 meters along route # Maximum depth: 1515.052845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.052845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956199; longitude = -129.982006; captureRadius = 10; duration = 136; initialDepth = 1475.332277; finalDepth = 1475.052845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.052845 # Seafloor depth:-1515.052845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1515.332277 meters looking forward 0.000000 meters along route # Maximum depth: 1515.332277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.332277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955344; longitude = -129.981467; captureRadius = 10; duration = 136; initialDepth = 1476.162503; finalDepth = 1475.332277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.332277 # Seafloor depth:-1515.332277 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1516.162503 meters looking forward 0.000000 meters along route # Maximum depth: 1516.162503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.162503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954489; longitude = -129.980928; captureRadius = 10; duration = 136; initialDepth = 1474.910887; finalDepth = 1476.162503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.162503 # Seafloor depth:-1516.162503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1514.910887 meters looking forward 0.000000 meters along route # Maximum depth: 1514.910887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.910887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953657; longitude = -129.980404; captureRadius = 10; duration = 136; initialDepth = 1474.859671; finalDepth = 1474.910887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.910887 # Seafloor depth:-1514.910887 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.907664 meters # Minimum depth: 1514.859671 meters looking forward 0.000000 meters along route # Maximum depth: 1514.859671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.859671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952825; longitude = -129.979879; captureRadius = 10; duration = 136; initialDepth = 1475.666321; finalDepth = 1474.859671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.859671 # Seafloor depth:-1514.859671 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 136.907664 meters # Minimum depth: 1515.666321 meters looking forward 0.000000 meters along route # Maximum depth: 1515.666321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.666321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951985; longitude = -129.979350; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1475.864930; finalDepth = 1475.666321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.666321 # Seafloor depth:-1515.666321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1515.864930 meters looking forward 0.000000 meters along route # Maximum depth: 1515.864930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.864930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951383; longitude = -129.979242; captureRadius = 10; duration = 136; initialDepth = 1477.269164; finalDepth = 1475.864930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.86493 # Seafloor depth:-1515.864930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.269164 meters looking forward 0.000000 meters along route # Maximum depth: 1517.269164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.269164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950485; longitude = -129.979082; captureRadius = 10; duration = 136; initialDepth = 1478.228209; finalDepth = 1477.269164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.269164 # Seafloor depth:-1517.269164 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1518.228209 meters looking forward 0.000000 meters along route # Maximum depth: 1518.228209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.228209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949585; longitude = -129.978921; captureRadius = 10; duration = 136; initialDepth = 1478.919269; finalDepth = 1478.228209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.228209 # Seafloor depth:-1518.228209 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1518.919269 meters looking forward 0.000000 meters along route # Maximum depth: 1518.919269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.919269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948685; longitude = -129.978760; captureRadius = 10; duration = 136; initialDepth = 1480.481031; finalDepth = 1478.919269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.919269 # Seafloor depth:-1518.919269 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1520.481031 meters looking forward 0.000000 meters along route # Maximum depth: 1520.481031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.481031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947786; longitude = -129.978600; captureRadius = 10; duration = 136; initialDepth = 1479.663730; finalDepth = 1480.481031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.481031 # Seafloor depth:-1520.481031 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1519.663730 meters looking forward 0.000000 meters along route # Maximum depth: 1519.663730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.663730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946886; longitude = -129.978439; captureRadius = 10; duration = 136; initialDepth = 1477.669793; finalDepth = 1479.663730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.66373 # Seafloor depth:-1519.663730 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.669793 meters looking forward 0.000000 meters along route # Maximum depth: 1517.669793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.669793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945986; longitude = -129.978278; captureRadius = 10; duration = 136; initialDepth = 1477.802609; finalDepth = 1477.669793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.669793 # Seafloor depth:-1517.669793 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.802609 meters looking forward 0.000000 meters along route # Maximum depth: 1517.802609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.802609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945086; longitude = -129.978117; captureRadius = 10; duration = 136; initialDepth = 1478.689815; finalDepth = 1477.802609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.802609 # Seafloor depth:-1517.802609 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1518.689815 meters looking forward 0.000000 meters along route # Maximum depth: 1518.689815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.689815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944186; longitude = -129.977956; captureRadius = 10; duration = 136; initialDepth = 1479.208075; finalDepth = 1478.689815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.689815 # Seafloor depth:-1518.689815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1519.208075 meters looking forward 0.000000 meters along route # Maximum depth: 1519.208075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.208075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943287; longitude = -129.977796; captureRadius = 10; duration = 136; initialDepth = 1477.945735; finalDepth = 1479.208075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.208075 # Seafloor depth:-1519.208075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.945735 meters looking forward 0.000000 meters along route # Maximum depth: 1517.945735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.945735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942387; longitude = -129.977635; captureRadius = 10; duration = 136; initialDepth = 1478.454918; finalDepth = 1477.945735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.945735 # Seafloor depth:-1517.945735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1518.454918 meters looking forward 0.000000 meters along route # Maximum depth: 1518.454918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.454918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941487; longitude = -129.977474; captureRadius = 10; duration = 136; initialDepth = 1478.198678; finalDepth = 1478.454918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.454918 # Seafloor depth:-1518.454918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1518.198678 meters looking forward 0.000000 meters along route # Maximum depth: 1518.198678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.198678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940587; longitude = -129.977313; captureRadius = 10; duration = 136; initialDepth = 1477.759875; finalDepth = 1478.198678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.198678 # Seafloor depth:-1518.198678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.759875 meters looking forward 0.000000 meters along route # Maximum depth: 1517.759875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.759875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939687; longitude = -129.977152; captureRadius = 10; duration = 136; initialDepth = 1477.722665; finalDepth = 1477.759875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.759875 # Seafloor depth:-1517.759875 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1517.722665 meters looking forward 0.000000 meters along route # Maximum depth: 1517.722665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.722665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938787; longitude = -129.976992; captureRadius = 10; duration = 136; initialDepth = 1479.842296; finalDepth = 1477.722665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.722665 # Seafloor depth:-1517.722665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1519.842296 meters looking forward 0.000000 meters along route # Maximum depth: 1519.842296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.842296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937888; longitude = -129.976831; captureRadius = 10; duration = 136; initialDepth = 1482.212573; finalDepth = 1479.842296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.842296 # Seafloor depth:-1519.842296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1522.212573 meters looking forward 0.000000 meters along route # Maximum depth: 1522.212573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.212573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936988; longitude = -129.976670; captureRadius = 10; duration = 136; initialDepth = 1482.633087; finalDepth = 1482.212573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.212573 # Seafloor depth:-1522.212573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1522.633087 meters looking forward 0.000000 meters along route # Maximum depth: 1522.633087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.633087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936088; longitude = -129.976509; captureRadius = 10; duration = 136; initialDepth = 1482.218103; finalDepth = 1482.633087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.633087 # Seafloor depth:-1522.633087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1522.218103 meters looking forward 0.000000 meters along route # Maximum depth: 1522.218103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.218103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935188; longitude = -129.976348; captureRadius = 10; duration = 136; initialDepth = 1483.079483; finalDepth = 1482.218103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.218103 # Seafloor depth:-1522.218103 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1523.079483 meters looking forward 0.000000 meters along route # Maximum depth: 1523.079483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.079483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934288; longitude = -129.976188; captureRadius = 10; duration = 136; initialDepth = 1482.335540; finalDepth = 1483.079483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.079483 # Seafloor depth:-1523.079483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1522.335540 meters looking forward 0.000000 meters along route # Maximum depth: 1522.335540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.335540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933388; longitude = -129.976027; captureRadius = 10; duration = 136; initialDepth = 1485.408924; finalDepth = 1482.335540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.33554 # Seafloor depth:-1522.335540 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1525.408924 meters looking forward 0.000000 meters along route # Maximum depth: 1525.408924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.408924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932489; longitude = -129.975866; captureRadius = 10; duration = 136; initialDepth = 1486.742741; finalDepth = 1485.408924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.408924 # Seafloor depth:-1525.408924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1526.742741 meters looking forward 0.000000 meters along route # Maximum depth: 1526.742741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.742741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931589; longitude = -129.975705; captureRadius = 10; duration = 136; initialDepth = 1486.011959; finalDepth = 1486.742741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.742741 # Seafloor depth:-1526.742741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1526.011959 meters looking forward 0.000000 meters along route # Maximum depth: 1526.011959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.011959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930689; longitude = -129.975544; captureRadius = 10; duration = 136; initialDepth = 1487.803057; finalDepth = 1486.011959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.011959 # Seafloor depth:-1526.011959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1527.803057 meters looking forward 0.000000 meters along route # Maximum depth: 1527.803057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.803057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929789; longitude = -129.975384; captureRadius = 10; duration = 136; initialDepth = 1489.479898; finalDepth = 1487.803057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.803057 # Seafloor depth:-1527.803057 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1529.479898 meters looking forward 0.000000 meters along route # Maximum depth: 1529.479898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.479898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928889; longitude = -129.975223; captureRadius = 10; duration = 136; initialDepth = 1489.306177; finalDepth = 1489.479898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.479898 # Seafloor depth:-1529.479898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1529.306177 meters looking forward 0.000000 meters along route # Maximum depth: 1529.306177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.306177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927990; longitude = -129.975062; captureRadius = 10; duration = 136; initialDepth = 1492.594017; finalDepth = 1489.306177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.306177 # Seafloor depth:-1529.306177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1532.594017 meters looking forward 0.000000 meters along route # Maximum depth: 1532.594017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.594017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927090; longitude = -129.974901; captureRadius = 10; duration = 136; initialDepth = 1495.341670; finalDepth = 1492.594017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.594017 # Seafloor depth:-1532.594017 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1535.341670 meters looking forward 0.000000 meters along route # Maximum depth: 1535.341670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.341670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926190; longitude = -129.974740; captureRadius = 10; duration = 136; initialDepth = 1494.585273; finalDepth = 1495.341670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.34167 # Seafloor depth:-1535.341670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1534.585273 meters looking forward 0.000000 meters along route # Maximum depth: 1534.585273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.585273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925290; longitude = -129.974579; captureRadius = 10; duration = 136; initialDepth = 1494.342179; finalDepth = 1494.585273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.585273 # Seafloor depth:-1534.585273 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1534.342179 meters looking forward 0.000000 meters along route # Maximum depth: 1534.342179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.342179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924390; longitude = -129.974419; captureRadius = 10; duration = 136; initialDepth = 1494.594537; finalDepth = 1494.342179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.342179 # Seafloor depth:-1534.342179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1534.594537 meters looking forward 0.000000 meters along route # Maximum depth: 1534.594537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.594537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923490; longitude = -129.974258; captureRadius = 10; duration = 136; initialDepth = 1496.939323; finalDepth = 1494.594537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.594537 # Seafloor depth:-1534.594537 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1536.939323 meters looking forward 0.000000 meters along route # Maximum depth: 1536.939323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.939323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922591; longitude = -129.974097; captureRadius = 10; duration = 136; initialDepth = 1499.859555; finalDepth = 1496.939323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.939323 # Seafloor depth:-1536.939323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1539.859555 meters looking forward 0.000000 meters along route # Maximum depth: 1539.859555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.859555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921691; longitude = -129.973936; captureRadius = 10; duration = 136; initialDepth = 1502.381613; finalDepth = 1499.859555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.859555 # Seafloor depth:-1539.859555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1542.381613 meters looking forward 0.000000 meters along route # Maximum depth: 1542.381613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.381613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920791; longitude = -129.973775; captureRadius = 10; duration = 136; initialDepth = 1503.146393; finalDepth = 1502.381613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.381613 # Seafloor depth:-1542.381613 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1543.146393 meters looking forward 0.000000 meters along route # Maximum depth: 1543.146393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.146393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919891; longitude = -129.973615; captureRadius = 10; duration = 136; initialDepth = 1505.695380; finalDepth = 1503.146393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.146393 # Seafloor depth:-1543.146393 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1545.695380 meters looking forward 0.000000 meters along route # Maximum depth: 1545.695380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.695380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918991; longitude = -129.973454; captureRadius = 10; duration = 136; initialDepth = 1508.559228; finalDepth = 1505.695380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.69538 # Seafloor depth:-1545.695380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1548.559228 meters looking forward 0.000000 meters along route # Maximum depth: 1548.559228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.559228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918091; longitude = -129.973293; captureRadius = 10; duration = 136; initialDepth = 1511.390042; finalDepth = 1508.559228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.559228 # Seafloor depth:-1548.559228 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1551.390042 meters looking forward 0.000000 meters along route # Maximum depth: 1551.390042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.390042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917192; longitude = -129.973132; captureRadius = 10; duration = 136; initialDepth = 1517.477325; finalDepth = 1511.390042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.390042 # Seafloor depth:-1551.390042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1557.477325 meters looking forward 0.000000 meters along route # Maximum depth: 1557.477325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.477325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916292; longitude = -129.972971; captureRadius = 10; duration = 136; initialDepth = 1516.011266; finalDepth = 1517.477325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.477325 # Seafloor depth:-1557.477325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1556.011266 meters looking forward 0.000000 meters along route # Maximum depth: 1556.011266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.011266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915392; longitude = -129.972811; captureRadius = 10; duration = 136; initialDepth = 1519.146814; finalDepth = 1516.011266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.011266 # Seafloor depth:-1556.011266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1559.146814 meters looking forward 0.000000 meters along route # Maximum depth: 1559.146814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.146814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914492; longitude = -129.972650; captureRadius = 10; duration = 136; initialDepth = 1521.377380; finalDepth = 1519.146814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.146814 # Seafloor depth:-1559.146814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1561.377380 meters looking forward 0.000000 meters along route # Maximum depth: 1561.377380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.377380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913592; longitude = -129.972489; captureRadius = 10; duration = 136; initialDepth = 1520.915371; finalDepth = 1521.377380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.37738 # Seafloor depth:-1561.377380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1560.915371 meters looking forward 0.000000 meters along route # Maximum depth: 1560.915371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.915371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912693; longitude = -129.972328; captureRadius = 10; duration = 136; initialDepth = 1520.525980; finalDepth = 1520.915371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.915371 # Seafloor depth:-1560.915371 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1560.525980 meters looking forward 0.000000 meters along route # Maximum depth: 1560.525980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.525980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911793; longitude = -129.972167; captureRadius = 10; duration = 136; initialDepth = 1520.844846; finalDepth = 1520.525980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.52598 # Seafloor depth:-1560.525980 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1560.844846 meters looking forward 0.000000 meters along route # Maximum depth: 1560.844846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.844846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910893; longitude = -129.972007; captureRadius = 10; duration = 136; initialDepth = 1521.475705; finalDepth = 1520.844846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.844846 # Seafloor depth:-1560.844846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1561.475705 meters looking forward 0.000000 meters along route # Maximum depth: 1561.475705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.475705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909993; longitude = -129.971846; captureRadius = 10; duration = 136; initialDepth = 1524.401055; finalDepth = 1521.475705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.475705 # Seafloor depth:-1561.475705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1564.401055 meters looking forward 0.000000 meters along route # Maximum depth: 1564.401055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.401055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909093; longitude = -129.971685; captureRadius = 10; duration = 136; initialDepth = 1527.196128; finalDepth = 1524.401055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.401055 # Seafloor depth:-1564.401055 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1567.196128 meters looking forward 0.000000 meters along route # Maximum depth: 1567.196128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.196128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908193; longitude = -129.971524; captureRadius = 10; duration = 136; initialDepth = 1530.687434; finalDepth = 1527.196128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.196128 # Seafloor depth:-1567.196128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 136.907664 meters # Minimum depth: 1570.687434 meters looking forward 0.000000 meters along route # Maximum depth: 1570.687434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.687434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907294; longitude = -129.971363; captureRadius = 10; duration = 136; initialDepth = 1534.475220; finalDepth = 1530.687434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1530.687434 # Seafloor depth:-1570.687434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 136.907664 meters # Minimum depth: 1574.475220 meters looking forward 0.000000 meters along route # Maximum depth: 1574.475220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.475220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906379; longitude = -129.971200; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1530.113465; finalDepth = 1534.475220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1534.47522 # Seafloor depth:-1574.475220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.907664 meters # Minimum depth: 1570.113465 meters looking forward 0.000000 meters along route # Maximum depth: 1570.113465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.113465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906399; longitude = -129.972211; captureRadius = 10; duration = 136; initialDepth = 1524.883911; finalDepth = 1530.113465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1530.113465 # Seafloor depth:-1570.113465 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 136.907664 meters # Minimum depth: 1564.883911 meters looking forward 0.000000 meters along route # Maximum depth: 1564.883911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.883911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906424; longitude = -129.973523; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1522.944503; finalDepth = 1524.883911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.883911 # Seafloor depth:-1564.883911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1562.944503 meters looking forward 0.000000 meters along route # Maximum depth: 1562.944503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.944503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907249; longitude = -129.973667; captureRadius = 10; duration = 136; initialDepth = 1521.700641; finalDepth = 1522.944503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.944503 # Seafloor depth:-1562.944503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1561.700641 meters looking forward 0.000000 meters along route # Maximum depth: 1561.700641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.700641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908148; longitude = -129.973825; captureRadius = 10; duration = 136; initialDepth = 1520.175745; finalDepth = 1521.700641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.700641 # Seafloor depth:-1561.700641 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1560.175745 meters looking forward 0.000000 meters along route # Maximum depth: 1560.175745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.175745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909048; longitude = -129.973983; captureRadius = 10; duration = 136; initialDepth = 1516.140280; finalDepth = 1520.175745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.175745 # Seafloor depth:-1560.175745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1556.140280 meters looking forward 0.000000 meters along route # Maximum depth: 1556.140280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.140280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909948; longitude = -129.974140; captureRadius = 10; duration = 136; initialDepth = 1515.662078; finalDepth = 1516.140280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.14028 # Seafloor depth:-1556.140280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1555.662078 meters looking forward 0.000000 meters along route # Maximum depth: 1555.662078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.662078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910848; longitude = -129.974298; captureRadius = 10; duration = 136; initialDepth = 1513.835790; finalDepth = 1515.662078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.662078 # Seafloor depth:-1555.662078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1553.835790 meters looking forward 0.000000 meters along route # Maximum depth: 1553.835790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.835790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911748; longitude = -129.974455; captureRadius = 10; duration = 136; initialDepth = 1512.464858; finalDepth = 1513.835790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.83579 # Seafloor depth:-1553.835790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1552.464858 meters looking forward 0.000000 meters along route # Maximum depth: 1552.464858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.464858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912648; longitude = -129.974613; captureRadius = 10; duration = 136; initialDepth = 1512.766851; finalDepth = 1512.464858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.464858 # Seafloor depth:-1552.464858 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1552.766851 meters looking forward 0.000000 meters along route # Maximum depth: 1552.766851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.766851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913547; longitude = -129.974770; captureRadius = 10; duration = 136; initialDepth = 1502.732352; finalDepth = 1512.766851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.766851 # Seafloor depth:-1552.766851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1542.732352 meters looking forward 0.000000 meters along route # Maximum depth: 1542.732352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.732352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914447; longitude = -129.974928; captureRadius = 10; duration = 136; initialDepth = 1505.863871; finalDepth = 1502.732352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.732352 # Seafloor depth:-1542.732352 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1545.863871 meters looking forward 0.000000 meters along route # Maximum depth: 1545.863871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.863871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915347; longitude = -129.975085; captureRadius = 10; duration = 136; initialDepth = 1502.524286; finalDepth = 1505.863871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.863871 # Seafloor depth:-1545.863871 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1542.524286 meters looking forward 0.000000 meters along route # Maximum depth: 1542.524286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.524286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916247; longitude = -129.975243; captureRadius = 10; duration = 136; initialDepth = 1503.746354; finalDepth = 1502.524286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.524286 # Seafloor depth:-1542.524286 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1543.746354 meters looking forward 0.000000 meters along route # Maximum depth: 1543.746354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.746354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917147; longitude = -129.975401; captureRadius = 10; duration = 136; initialDepth = 1500.180764; finalDepth = 1503.746354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.746354 # Seafloor depth:-1543.746354 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1540.180764 meters looking forward 0.000000 meters along route # Maximum depth: 1540.180764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.180764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918046; longitude = -129.975558; captureRadius = 10; duration = 136; initialDepth = 1499.156869; finalDepth = 1500.180764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.180764 # Seafloor depth:-1540.180764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1539.156869 meters looking forward 0.000000 meters along route # Maximum depth: 1539.156869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.156869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918946; longitude = -129.975716; captureRadius = 10; duration = 136; initialDepth = 1497.407104; finalDepth = 1499.156869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.156869 # Seafloor depth:-1539.156869 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1537.407104 meters looking forward 0.000000 meters along route # Maximum depth: 1537.407104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.407104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919846; longitude = -129.975873; captureRadius = 10; duration = 136; initialDepth = 1495.312863; finalDepth = 1497.407104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.407104 # Seafloor depth:-1537.407104 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1535.312863 meters looking forward 0.000000 meters along route # Maximum depth: 1535.312863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.312863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920746; longitude = -129.976031; captureRadius = 10; duration = 136; initialDepth = 1493.110947; finalDepth = 1495.312863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.312863 # Seafloor depth:-1535.312863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1533.110947 meters looking forward 0.000000 meters along route # Maximum depth: 1533.110947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.110947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921646; longitude = -129.976188; captureRadius = 10; duration = 136; initialDepth = 1490.929096; finalDepth = 1493.110947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.110947 # Seafloor depth:-1533.110947 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1530.929096 meters looking forward 0.000000 meters along route # Maximum depth: 1530.929096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.929096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922546; longitude = -129.976346; captureRadius = 10; duration = 136; initialDepth = 1490.575473; finalDepth = 1490.929096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.929096 # Seafloor depth:-1530.929096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1530.575473 meters looking forward 0.000000 meters along route # Maximum depth: 1530.575473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.575473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923445; longitude = -129.976503; captureRadius = 10; duration = 136; initialDepth = 1491.194396; finalDepth = 1490.575473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.575473 # Seafloor depth:-1530.575473 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1531.194396 meters looking forward 0.000000 meters along route # Maximum depth: 1531.194396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.194396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924351; longitude = -129.976662; captureRadius = 10; duration = 136; initialDepth = 1492.631689; finalDepth = 1491.194396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.194396 # Seafloor depth:-1531.194396 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1532.631689 meters looking forward 0.000000 meters along route # Maximum depth: 1532.631689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.631689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925245; longitude = -129.976819; captureRadius = 10; duration = 136; initialDepth = 1491.775477; finalDepth = 1492.631689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.631689 # Seafloor depth:-1532.631689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1531.775477 meters looking forward 0.000000 meters along route # Maximum depth: 1531.775477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.775477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926145; longitude = -129.976976; captureRadius = 10; duration = 136; initialDepth = 1491.344293; finalDepth = 1491.775477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.775477 # Seafloor depth:-1531.775477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1531.344293 meters looking forward 0.000000 meters along route # Maximum depth: 1531.344293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.344293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927045; longitude = -129.977134; captureRadius = 10; duration = 136; initialDepth = 1489.412385; finalDepth = 1491.344293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.344293 # Seafloor depth:-1531.344293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1529.412385 meters looking forward 0.000000 meters along route # Maximum depth: 1529.412385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.412385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927945; longitude = -129.977291; captureRadius = 10; duration = 136; initialDepth = 1488.344781; finalDepth = 1489.412385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.412385 # Seafloor depth:-1529.412385 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1528.344781 meters looking forward 0.000000 meters along route # Maximum depth: 1528.344781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.344781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928844; longitude = -129.977449; captureRadius = 10; duration = 136; initialDepth = 1485.662580; finalDepth = 1488.344781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.344781 # Seafloor depth:-1528.344781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1525.662580 meters looking forward 0.000000 meters along route # Maximum depth: 1525.662580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.662580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929744; longitude = -129.977606; captureRadius = 10; duration = 136; initialDepth = 1485.418754; finalDepth = 1485.662580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.66258 # Seafloor depth:-1525.662580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1525.418754 meters looking forward 0.000000 meters along route # Maximum depth: 1525.418754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.418754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930644; longitude = -129.977764; captureRadius = 10; duration = 136; initialDepth = 1483.695979; finalDepth = 1485.418754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.418754 # Seafloor depth:-1525.418754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1523.695979 meters looking forward 0.000000 meters along route # Maximum depth: 1523.695979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.695979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931544; longitude = -129.977921; captureRadius = 10; duration = 136; initialDepth = 1483.902085; finalDepth = 1483.695979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.695979 # Seafloor depth:-1523.695979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1523.902085 meters looking forward 0.000000 meters along route # Maximum depth: 1523.902085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.902085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932444; longitude = -129.978079; captureRadius = 10; duration = 136; initialDepth = 1482.080391; finalDepth = 1483.902085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.902085 # Seafloor depth:-1523.902085 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1522.080391 meters looking forward 0.000000 meters along route # Maximum depth: 1522.080391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.080391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933343; longitude = -129.978237; captureRadius = 10; duration = 136; initialDepth = 1481.355820; finalDepth = 1482.080391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.080391 # Seafloor depth:-1522.080391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1521.355820 meters looking forward 0.000000 meters along route # Maximum depth: 1521.355820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.355820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934243; longitude = -129.978394; captureRadius = 10; duration = 136; initialDepth = 1481.433829; finalDepth = 1481.355820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.35582 # Seafloor depth:-1521.355820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1521.433829 meters looking forward 0.000000 meters along route # Maximum depth: 1521.433829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.433829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935143; longitude = -129.978552; captureRadius = 10; duration = 136; initialDepth = 1480.549454; finalDepth = 1481.433829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.433829 # Seafloor depth:-1521.433829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1520.549454 meters looking forward 0.000000 meters along route # Maximum depth: 1520.549454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.549454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936043; longitude = -129.978709; captureRadius = 10; duration = 136; initialDepth = 1482.043884; finalDepth = 1480.549454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.549454 # Seafloor depth:-1520.549454 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1522.043884 meters looking forward 0.000000 meters along route # Maximum depth: 1522.043884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.043884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936943; longitude = -129.978867; captureRadius = 10; duration = 136; initialDepth = 1479.607679; finalDepth = 1482.043884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.043884 # Seafloor depth:-1522.043884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1519.607679 meters looking forward 0.000000 meters along route # Maximum depth: 1519.607679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.607679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937843; longitude = -129.979024; captureRadius = 10; duration = 136; initialDepth = 1479.410147; finalDepth = 1479.607679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.607679 # Seafloor depth:-1519.607679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1519.410147 meters looking forward 0.000000 meters along route # Maximum depth: 1519.410147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.410147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938742; longitude = -129.979182; captureRadius = 10; duration = 136; initialDepth = 1479.905533; finalDepth = 1479.410147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.410147 # Seafloor depth:-1519.410147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1519.905533 meters looking forward 0.000000 meters along route # Maximum depth: 1519.905533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.905533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939642; longitude = -129.979339; captureRadius = 10; duration = 136; initialDepth = 1471.593318; finalDepth = 1479.905533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.905533 # Seafloor depth:-1519.905533 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1511.593318 meters looking forward 0.000000 meters along route # Maximum depth: 1511.593318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.593318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940542; longitude = -129.979497; captureRadius = 10; duration = 136; initialDepth = 1472.020266; finalDepth = 1471.593318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.593318 # Seafloor depth:-1511.593318 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1512.020266 meters looking forward 0.000000 meters along route # Maximum depth: 1512.020266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.020266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941442; longitude = -129.979655; captureRadius = 10; duration = 136; initialDepth = 1473.671035; finalDepth = 1472.020266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.020266 # Seafloor depth:-1512.020266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1513.671035 meters looking forward 0.000000 meters along route # Maximum depth: 1513.671035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.671035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942342; longitude = -129.979812; captureRadius = 10; duration = 136; initialDepth = 1473.994772; finalDepth = 1473.671035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.671035 # Seafloor depth:-1513.671035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1513.994772 meters looking forward 0.000000 meters along route # Maximum depth: 1513.994772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.994772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943242; longitude = -129.979970; captureRadius = 10; duration = 136; initialDepth = 1472.777142; finalDepth = 1473.994772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.994772 # Seafloor depth:-1513.994772 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1512.777142 meters looking forward 0.000000 meters along route # Maximum depth: 1512.777142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.777142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944141; longitude = -129.980127; captureRadius = 10; duration = 136; initialDepth = 1475.375497; finalDepth = 1472.777142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.777142 # Seafloor depth:-1512.777142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1515.375497 meters looking forward 0.000000 meters along route # Maximum depth: 1515.375497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.375497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945041; longitude = -129.980285; captureRadius = 10; duration = 136; initialDepth = 1474.816774; finalDepth = 1475.375497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.375497 # Seafloor depth:-1515.375497 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1514.816774 meters looking forward 0.000000 meters along route # Maximum depth: 1514.816774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.816774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945941; longitude = -129.980442; captureRadius = 10; duration = 136; initialDepth = 1479.935949; finalDepth = 1474.816774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.816774 # Seafloor depth:-1514.816774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1519.935949 meters looking forward 0.000000 meters along route # Maximum depth: 1519.935949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.935949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946841; longitude = -129.980600; captureRadius = 10; duration = 136; initialDepth = 1476.839739; finalDepth = 1479.935949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.935949 # Seafloor depth:-1519.935949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1516.839739 meters looking forward 0.000000 meters along route # Maximum depth: 1516.839739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.839739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947741; longitude = -129.980757; captureRadius = 10; duration = 136; initialDepth = 1476.955712; finalDepth = 1476.839739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.839739 # Seafloor depth:-1516.839739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1516.955712 meters looking forward 0.000000 meters along route # Maximum depth: 1516.955712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.955712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948640; longitude = -129.980915; captureRadius = 10; duration = 136; initialDepth = 1477.117169; finalDepth = 1476.955712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.955712 # Seafloor depth:-1516.955712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1517.117169 meters looking forward 0.000000 meters along route # Maximum depth: 1517.117169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.117169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949540; longitude = -129.981073; captureRadius = 10; duration = 136; initialDepth = 1476.399215; finalDepth = 1477.117169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.117169 # Seafloor depth:-1517.117169 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.907664 meters # Minimum depth: 1516.399215 meters looking forward 0.000000 meters along route # Maximum depth: 1516.399215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.399215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950440; longitude = -129.981230; captureRadius = 10; duration = 136; initialDepth = 1476.387665; finalDepth = 1476.399215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.399215 # Seafloor depth:-1516.399215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 136.907664 meters # Minimum depth: 1516.387665 meters looking forward 0.000000 meters along route # Maximum depth: 1516.387665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.387665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951370; longitude = -129.981393; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1476.545534; finalDepth = 1476.387665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.387665 # Seafloor depth:-1516.387665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1516.545534 meters looking forward 0.000000 meters along route # Maximum depth: 1516.545534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.545534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951430; longitude = -129.981431; captureRadius = 10; duration = 136; initialDepth = 1476.661363; finalDepth = 1476.545534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.545534 # Seafloor depth:-1516.545534 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1516.661363 meters looking forward 0.000000 meters along route # Maximum depth: 1516.661363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.661363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952257; longitude = -129.981952; captureRadius = 10; duration = 136; initialDepth = 1474.828047; finalDepth = 1476.661363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.661363 # Seafloor depth:-1516.661363 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1514.828047 meters looking forward 0.000000 meters along route # Maximum depth: 1514.828047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.828047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953095; longitude = -129.982480; captureRadius = 10; duration = 136; initialDepth = 1473.766003; finalDepth = 1474.828047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.828047 # Seafloor depth:-1514.828047 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1513.766003 meters looking forward 0.000000 meters along route # Maximum depth: 1513.766003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.766003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953949; longitude = -129.983018; captureRadius = 10; duration = 136; initialDepth = 1472.556113; finalDepth = 1473.766003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.766003 # Seafloor depth:-1513.766003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1512.556113 meters looking forward 0.000000 meters along route # Maximum depth: 1512.556113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.556113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954816; longitude = -129.983565; captureRadius = 10; duration = 136; initialDepth = 1467.732766; finalDepth = 1472.556113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.556113 # Seafloor depth:-1512.556113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1507.732766 meters looking forward 0.000000 meters along route # Maximum depth: 1507.732766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.732766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955659; longitude = -129.984096; captureRadius = 10; duration = 136; initialDepth = 1467.071576; finalDepth = 1467.732766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.732766 # Seafloor depth:-1507.732766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1507.071576 meters looking forward 0.000000 meters along route # Maximum depth: 1507.071576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.071576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956514; longitude = -129.984634; captureRadius = 10; duration = 136; initialDepth = 1466.108687; finalDepth = 1467.071576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.071576 # Seafloor depth:-1507.071576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1506.108687 meters looking forward 0.000000 meters along route # Maximum depth: 1506.108687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.108687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957369; longitude = -129.985173; captureRadius = 10; duration = 136; initialDepth = 1466.738039; finalDepth = 1466.108687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.108687 # Seafloor depth:-1506.108687 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1506.738039 meters looking forward 0.000000 meters along route # Maximum depth: 1506.738039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.738039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958194; longitude = -129.985693; captureRadius = 10; duration = 136; initialDepth = 1465.907588; finalDepth = 1466.738039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.738039 # Seafloor depth:-1506.738039 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1505.907588 meters looking forward 0.000000 meters along route # Maximum depth: 1505.907588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.907588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959033; longitude = -129.986222; captureRadius = 10; duration = 136; initialDepth = 1460.454879; finalDepth = 1465.907588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.907588 # Seafloor depth:-1505.907588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1500.454879 meters looking forward 0.000000 meters along route # Maximum depth: 1500.454879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.454879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959888; longitude = -129.986761; captureRadius = 10; duration = 136; initialDepth = 1442.137442; finalDepth = 1460.454879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.454879 # Seafloor depth:-1500.454879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1482.137442 meters looking forward 0.000000 meters along route # Maximum depth: 1482.137442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.137442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960753; longitude = -129.987306; captureRadius = 10; duration = 136; initialDepth = 1438.256136; finalDepth = 1442.137442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.137442 # Seafloor depth:-1482.137442 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1478.256136 meters looking forward 0.000000 meters along route # Maximum depth: 1478.256136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.256136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961598; longitude = -129.987838; captureRadius = 10; duration = 136; initialDepth = 1426.772449; finalDepth = 1438.256136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.256136 # Seafloor depth:-1478.256136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.907664 meters # Minimum depth: 1466.772449 meters looking forward 0.000000 meters along route # Maximum depth: 1466.772449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1426.772449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962453; longitude = -129.988377; captureRadius = 10; duration = 136; initialDepth = 1428.190582; finalDepth = 1426.772449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1426.772449 # Seafloor depth:-1466.772449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 136.907664 meters # Minimum depth: 1468.190582 meters looking forward 0.000000 meters along route # Maximum depth: 1468.190582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.190582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963278; longitude = -129.988897; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1442.797617; finalDepth = 1428.190582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1428.190582 # Seafloor depth:-1468.190582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1482.797617 meters looking forward 0.000000 meters along route # Maximum depth: 1482.797617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.797617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963912; longitude = -129.988919; captureRadius = 10; duration = 136; initialDepth = 1452.089652; finalDepth = 1442.797617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.797617 # Seafloor depth:-1482.797617 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1492.089652 meters looking forward 0.000000 meters along route # Maximum depth: 1492.089652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.089652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965779; longitude = -129.988983; captureRadius = 10; duration = 136; initialDepth = 1452.717383; finalDepth = 1452.089652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.089652 # Seafloor depth:-1492.089652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1492.717383 meters looking forward 0.000000 meters along route # Maximum depth: 1492.717383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.717383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967646; longitude = -129.989048; captureRadius = 10; duration = 136; initialDepth = 1449.959373; finalDepth = 1452.717383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.717383 # Seafloor depth:-1492.717383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1489.959373 meters looking forward 0.000000 meters along route # Maximum depth: 1489.959373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.959373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969514; longitude = -129.989112; captureRadius = 10; duration = 136; initialDepth = 1439.194762; finalDepth = 1449.959373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.959373 # Seafloor depth:-1489.959373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1479.194762 meters looking forward 0.000000 meters along route # Maximum depth: 1479.194762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.194762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971381; longitude = -129.989177; captureRadius = 10; duration = 136; initialDepth = 1441.809959; finalDepth = 1439.194762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.194762 # Seafloor depth:-1479.194762 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.907664 meters # Minimum depth: 1481.809959 meters looking forward 0.000000 meters along route # Maximum depth: 1481.809959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1605.601589 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.809959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973248; longitude = -129.989241; captureRadius = 10; duration = 136; initialDepth = 1438.916077; finalDepth = 1441.809959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.809959 # Seafloor depth:-1481.809959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:1438.916077 # Seafloor depth:-1478.916077 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 136.907664 meters # Minimum depth: 1478.916077 meters looking forward 0.000000 meters along route # Maximum depth: 1478.916077 meters looking forward 0.000000 meters along route # Vehicle depth: 1438.916077 meters behavior waypoint { latitude = 45.974480; longitude = -129.989284; captureRadius = 10; duration = 359; depth = 1438.916077; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1438.916077 meters set by local depth and desired altitude behavior descend { duration = 4255; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 136.907664 meters # Minimum depth: 1478.916077 meters looking forward 0.000000 meters along route # Maximum depth: 1478.916077 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 45.974480; longitude = -129.989284; captureRadius = 10; duration = 500; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; 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 = 90.0; 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, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################