# 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: BarkleyMission01.rte # Mission File: BarkleyMission01.cfg # Distance: 36011.040672 (m) # Estimated Time: 26659 (s) 7.405 (hr) # Abort Time: 34656 (s) # Way Points: 32 # Route Points: 358 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 1500 (m) # Abort Vehicle Depth: 1600 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.31 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -126.103857 48.412048 -256.692253 0.000000 1 # 1 -126.105917 48.407432 -266.773788 535.556118 1 # 2 -126.107650 48.404833 -274.241432 851.813703 1 # 3 -126.115002 48.388922 -324.500702 2703.253580 1 # 4 -126.116377 48.386685 -331.701462 2972.085503 1 # 5 -126.119337 48.380998 -350.717514 3641.502489 1 # 6 -126.117892 48.375688 -363.699547 4241.682065 1 # 7 -126.118310 48.368062 -390.586739 5090.375357 1 # 8 -126.118310 48.368062 -390.586739 5090.375357 1 # 9 -126.122230 48.359462 -417.820000 6089.972748 1 # 10 -126.127600 48.353813 -452.784050 6833.699446 1 # 11 -126.138133 48.347138 -536.548935 7911.083795 1 # 12 -126.150748 48.342708 -614.296646 8968.163232 1 # 13 -126.182952 48.337022 -785.394440 11438.224501 1 # 14 -126.232932 48.335922 -1013.277283 15146.167691 1 # 15 -126.256917 48.330145 -1193.953888 17037.185658 1 # 16 -126.266148 48.326300 -1216.993815 17844.309491 1 # 17 -126.264890 48.324863 -1204.129150 18029.405660 1 # 18 -126.255636 48.328457 -1113.761566 18823.628703 1 # 19 -126.232141 48.334162 -1013.533524 20677.815162 1 # 20 -126.182320 48.335195 -766.109024 24373.866756 1 # 21 -126.149930 48.341035 -621.396469 26861.758056 1 # 22 -126.136498 48.345708 -540.934860 27985.058194 1 # 23 -126.125402 48.352761 -454.860931 29121.672027 1 # 24 -126.119741 48.358556 -419.216606 29890.722595 1 # 25 -126.115563 48.367586 -389.521057 30941.646676 1 # 26 -126.114889 48.375672 -358.216339 31842.320358 1 # 27 -126.116372 48.380658 -348.615349 32407.621830 1 # 28 -126.112868 48.387532 -326.048355 33214.986483 1 # 29 -126.105231 48.404199 -272.064285 35153.005158 1 # 30 -126.103569 48.406669 -264.293198 35454.019329 1 # 31 -126.101457 48.411476 -253.677959 36011.040672 1 # # A total of 358 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 34656; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1500.000000; abortDepth = 1600.000000; minAltitude = 50.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 981; horizontalMode = rudder; horizontal = 5.000000; pitch = 30.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 11.871493 meters # Minimum depth: 253.677959 meters looking forward 200.000000 meters along route # Maximum depth: 253.827802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.677959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.411476; longitude = -126.101457; captureRadius = 10; duration = 11; initialDepth = 213.677959; finalDepth = 213.677959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:213.677959 # Seafloor depth:-253.677959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.634399 meters # Minimum depth: 253.677959 meters looking forward 200.000000 meters along route # Maximum depth: 256.247016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.677959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.411374; longitude = -126.101502; captureRadius = 10; duration = 106; initialDepth = 213.677959; finalDepth = 213.677959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.148048 # Actual altitude: 50 # Commanded vehicle depth:213.677959 # Seafloor depth:-253.826007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.634520 meters # Minimum depth: 254.544299 meters looking forward 200.000000 meters along route # Maximum depth: 257.848811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.544299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.410453; longitude = -126.101906; captureRadius = 10; duration = 106; initialDepth = 214.544299; finalDepth = 213.677959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.76996 # Actual altitude: 50 # Commanded vehicle depth:214.544299 # Seafloor depth:-256.314259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 107.998789 meters # Minimum depth: 257.059296 meters looking forward 200.000000 meters along route # Maximum depth: 259.762401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.059296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.409533; longitude = -126.102311; captureRadius = 10; duration = 107; initialDepth = 217.059296; finalDepth = 214.544299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.76996 # Actual altitude: 50 # Commanded vehicle depth:217.059296 # Seafloor depth:-257.285363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.318937 meters # Minimum depth: 258.315861 meters looking forward 200.000000 meters along route # Maximum depth: 261.770067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.315861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.408601; longitude = -126.102720; captureRadius = 10; duration = 109; initialDepth = 218.315861; finalDepth = 217.059296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.497929 # Actual altitude: 50 # Commanded vehicle depth:218.315861 # Seafloor depth:-259.813790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 114.563205 meters # Minimum depth: 260.255684 meters looking forward 200.000000 meters along route # Maximum depth: 264.484246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.255684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.407658; longitude = -126.103135; captureRadius = 10; duration = 114; initialDepth = 220.255684; finalDepth = 218.315861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.497929 # Actual altitude: 50 # Commanded vehicle depth:220.255684 # Seafloor depth:-261.740909 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 89.412372 meters # Minimum depth: 262.005442 meters looking forward 200.000000 meters along route # Maximum depth: 266.336622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.005442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.406669; longitude = -126.103569; captureRadius = 10; duration = 89; initialDepth = 222.005442; finalDepth = 220.255684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.287756 # Actual altitude: 50 # Commanded vehicle depth:222.005442 # Seafloor depth:-264.293198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.164750 meters # Minimum depth: 263.866776 meters looking forward 200.000000 meters along route # Maximum depth: 269.164978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.866776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.405935; longitude = -126.104063; captureRadius = 10; duration = 102; initialDepth = 223.866776; finalDepth = 222.005442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.376975 # Actual altitude: 50 # Commanded vehicle depth:223.866776 # Seafloor depth:-266.243751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.437049 meters # Minimum depth: 266.921112 meters looking forward 200.000000 meters along route # Maximum depth: 271.769943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.921112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.405097; longitude = -126.104627; captureRadius = 10; duration = 109; initialDepth = 226.921112; finalDepth = 223.866776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.414139 # Actual altitude: 50 # Commanded vehicle depth:226.921112 # Seafloor depth:-269.335251 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 79.724370 meters # Minimum depth: 269.164978 meters looking forward 200.000000 meters along route # Maximum depth: 274.172216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.164978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.404199; longitude = -126.105231; captureRadius = 10; duration = 79; initialDepth = 229.164978; finalDepth = 226.921112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.899307 # Actual altitude: 50 # Commanded vehicle depth:229.164978 # Seafloor depth:-272.064285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.600936 meters # Minimum depth: 271.564431 meters looking forward 200.000000 meters along route # Maximum depth: 276.796755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.564431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.403513; longitude = -126.105545; captureRadius = 10; duration = 102; initialDepth = 231.564431; finalDepth = 229.164978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.978765 # Actual altitude: 50 # Commanded vehicle depth:231.564431 # Seafloor depth:-274.543196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 105.031942 meters # Minimum depth: 275.012775 meters looking forward 200.000000 meters along route # Maximum depth: 278.557208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.012775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.402631; longitude = -126.105949; captureRadius = 10; duration = 105; initialDepth = 235.012775; finalDepth = 231.564431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.978765 # Actual altitude: 50 # Commanded vehicle depth:235.012775 # Seafloor depth:-276.848501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.170297 meters # Minimum depth: 276.924893 meters looking forward 200.000000 meters along route # Maximum depth: 281.071902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.924893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.401728; longitude = -126.106363; captureRadius = 10; duration = 100; initialDepth = 236.924893; finalDepth = 235.012775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.835726 # Actual altitude: 50 # Commanded vehicle depth:236.924893 # Seafloor depth:-278.726278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.552712 meters # Minimum depth: 279.269388 meters looking forward 200.000000 meters along route # Maximum depth: 284.356404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.269388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.400866; longitude = -126.106758; captureRadius = 10; duration = 103; initialDepth = 239.269388; finalDepth = 236.924893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.914245 # Actual altitude: 50 # Commanded vehicle depth:239.269388 # Seafloor depth:-281.183633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.650018 meters # Minimum depth: 281.553713 meters looking forward 200.000000 meters along route # Maximum depth: 286.621679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.553713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.399976; longitude = -126.107166; captureRadius = 10; duration = 101; initialDepth = 241.553713; finalDepth = 239.269388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.81719 # Actual altitude: 50 # Commanded vehicle depth:241.553713 # Seafloor depth:-284.370903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.601548 meters # Minimum depth: 284.555461 meters looking forward 200.000000 meters along route # Maximum depth: 289.431573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.555461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.399101; longitude = -126.107567; captureRadius = 10; duration = 102; initialDepth = 244.555461; finalDepth = 241.553713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.81719 # Actual altitude: 50 # Commanded vehicle depth:244.555461 # Seafloor depth:-286.841656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.601672 meters # Minimum depth: 287.114721 meters looking forward 200.000000 meters along route # Maximum depth: 292.377258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.114721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.398219; longitude = -126.107971; captureRadius = 10; duration = 102; initialDepth = 247.114721; finalDepth = 244.555461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.333114 # Actual altitude: 50 # Commanded vehicle depth:247.114721 # Seafloor depth:-289.447835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.601793 meters # Minimum depth: 289.969641 meters looking forward 200.000000 meters along route # Maximum depth: 295.422153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.969641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.397337; longitude = -126.108375; captureRadius = 10; duration = 102; initialDepth = 249.969641; finalDepth = 247.114721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.588105 # Actual altitude: 50 # Commanded vehicle depth:249.969641 # Seafloor depth:-292.557746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.601916 meters # Minimum depth: 292.919630 meters looking forward 200.000000 meters along route # Maximum depth: 297.363451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.919630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.396454; longitude = -126.108780; captureRadius = 10; duration = 102; initialDepth = 252.919630; finalDepth = 249.969641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.588105 # Actual altitude: 50 # Commanded vehicle depth:252.91963 # Seafloor depth:-295.487035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.602039 meters # Minimum depth: 295.664002 meters looking forward 200.000000 meters along route # Maximum depth: 301.604451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.664002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.395572; longitude = -126.109184; captureRadius = 10; duration = 102; initialDepth = 255.664002; finalDepth = 252.919630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.567405 # Actual altitude: 50 # Commanded vehicle depth:255.664002 # Seafloor depth:-297.953509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.602161 meters # Minimum depth: 298.952481 meters looking forward 200.000000 meters along route # Maximum depth: 303.870476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.952481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.394690; longitude = -126.109588; captureRadius = 10; duration = 102; initialDepth = 258.952481; finalDepth = 255.664002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.645389 # Actual altitude: 50 # Commanded vehicle depth:258.952481 # Seafloor depth:-301.597870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.602284 meters # Minimum depth: 301.732541 meters looking forward 200.000000 meters along route # Maximum depth: 307.291027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.732541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.393807; longitude = -126.109993; captureRadius = 10; duration = 102; initialDepth = 261.732541; finalDepth = 258.952481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.645389 # Actual altitude: 50 # Commanded vehicle depth:261.732541 # Seafloor depth:-303.998409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.731677 meters # Minimum depth: 304.645280 meters looking forward 200.000000 meters along route # Maximum depth: 310.545753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.645280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.392925; longitude = -126.110397; captureRadius = 10; duration = 104; initialDepth = 264.645280; finalDepth = 261.732541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.900973 # Actual altitude: 50 # Commanded vehicle depth:264.64528 # Seafloor depth:-307.546253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.473258 meters # Minimum depth: 308.261003 meters looking forward 200.000000 meters along route # Maximum depth: 313.395413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.261003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.392024; longitude = -126.110810; captureRadius = 10; duration = 100; initialDepth = 268.261003; finalDepth = 264.645280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.900973 # Actual altitude: 50 # Commanded vehicle depth:268.261003 # Seafloor depth:-310.603143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.252426 meters # Minimum depth: 310.760226 meters looking forward 200.000000 meters along route # Maximum depth: 317.280810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.760226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.391160; longitude = -126.111206; captureRadius = 10; duration = 103; initialDepth = 270.760226; finalDepth = 268.261003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.628361 # Actual altitude: 50 # Commanded vehicle depth:270.760226 # Seafloor depth:-313.388587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.953000 meters # Minimum depth: 313.424610 meters looking forward 200.000000 meters along route # Maximum depth: 319.689297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.424610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.390272; longitude = -126.111612; captureRadius = 10; duration = 101; initialDepth = 273.424610; finalDepth = 270.760226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.885219 # Actual altitude: 50 # Commanded vehicle depth:273.42461 # Seafloor depth:-317.309829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.602896 meters # Minimum depth: 317.621097 meters looking forward 200.000000 meters along route # Maximum depth: 323.425142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.621097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.389395; longitude = -126.112014; captureRadius = 10; duration = 102; initialDepth = 277.621097; finalDepth = 273.424610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.885219 # Actual altitude: 50 # Commanded vehicle depth:277.621097 # Seafloor depth:-319.521610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 114.061730 meters # Minimum depth: 320.148792 meters looking forward 200.000000 meters along route # Maximum depth: 325.783123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.148792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388513; longitude = -126.112419; captureRadius = 10; duration = 114; initialDepth = 280.148792; finalDepth = 277.621097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.215747 # Actual altitude: 50 # Commanded vehicle depth:280.148792 # Seafloor depth:-322.364539 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 58.071658 meters # Minimum depth: 322.000206 meters looking forward 200.000000 meters along route # Maximum depth: 327.486899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.000206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.387532; longitude = -126.112868; captureRadius = 10; duration = 58; initialDepth = 282.000206; finalDepth = 280.148792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.048149 # Actual altitude: 50 # Commanded vehicle depth:282.000206 # Seafloor depth:-326.048355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.804032 meters # Minimum depth: 325.285226 meters looking forward 200.000000 meters along route # Maximum depth: 330.203953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.285226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.387038; longitude = -126.113120; captureRadius = 10; duration = 110; initialDepth = 285.285226; finalDepth = 282.000206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.048149 # Actual altitude: 50 # Commanded vehicle depth:285.285226 # Seafloor depth:-327.670884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.197019 meters # Minimum depth: 327.979156 meters looking forward 200.000000 meters along route # Maximum depth: 333.915677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.979156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.386094; longitude = -126.113601; captureRadius = 10; duration = 100; initialDepth = 287.979156; finalDepth = 285.285226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.533598 # Actual altitude: 50 # Commanded vehicle depth:287.979156 # Seafloor depth:-330.512754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 105.582368 meters # Minimum depth: 330.866562 meters looking forward 200.000000 meters along route # Maximum depth: 337.963401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.866562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.385241; longitude = -126.114036; captureRadius = 10; duration = 105; initialDepth = 290.866562; finalDepth = 287.979156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.218283 # Actual altitude: 50 # Commanded vehicle depth:290.866562 # Seafloor depth:-334.084845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 111.789156 meters # Minimum depth: 334.785356 meters looking forward 200.000000 meters along route # Maximum depth: 341.493265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.785356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.384342; longitude = -126.114494; captureRadius = 10; duration = 111; initialDepth = 294.785356; finalDepth = 290.866562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.222072 # Actual altitude: 50 # Commanded vehicle depth:294.785356 # Seafloor depth:-338.007428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.820096 meters # Minimum depth: 339.354127 meters looking forward 200.000000 meters along route # Maximum depth: 343.123220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.354127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.383390; longitude = -126.114979; captureRadius = 10; duration = 109; initialDepth = 299.354127; finalDepth = 294.785356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.222072 # Actual altitude: 50 # Commanded vehicle depth:299.354127 # Seafloor depth:-341.115481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.804891 meters # Minimum depth: 341.937191 meters looking forward 200.000000 meters along route # Maximum depth: 345.913124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.937191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.382455; longitude = -126.115456; captureRadius = 10; duration = 110; initialDepth = 301.937191; finalDepth = 299.354127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.780687 # Actual altitude: 50 # Commanded vehicle depth:301.937191 # Seafloor depth:-343.717878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.295433 meters # Minimum depth: 344.301839 meters looking forward 200.000000 meters along route # Maximum depth: 348.708835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.301839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.381512; longitude = -126.115937; captureRadius = 10; duration = 100; initialDepth = 304.301839; finalDepth = 301.937191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.816337 # Actual altitude: 50 # Commanded vehicle depth:304.301839 # Seafloor depth:-346.118176 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 25.425101 meters # Minimum depth: 344.818364 meters looking forward 200.000000 meters along route # Maximum depth: 348.784207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.818364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.380658; longitude = -126.116372; captureRadius = 10; duration = 25; initialDepth = 304.818364; finalDepth = 304.301839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.796985 # Actual altitude: 50 # Commanded vehicle depth:304.818364 # Seafloor depth:-348.615349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.960756 meters # Minimum depth: 348.330240 meters looking forward 200.000000 meters along route # Maximum depth: 350.327770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.330240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.380434; longitude = -126.116305; captureRadius = 10; duration = 106; initialDepth = 308.330240; finalDepth = 304.818364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.796985 # Actual altitude: 50 # Commanded vehicle depth:308.33024 # Seafloor depth:-349.072313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.960828 meters # Minimum depth: 349.214038 meters looking forward 200.000000 meters along route # Maximum depth: 352.765766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.214038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.379490; longitude = -126.116025; captureRadius = 10; duration = 106; initialDepth = 309.214038; finalDepth = 308.330240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.229943 # Actual altitude: 50 # Commanded vehicle depth:309.214038 # Seafloor depth:-350.443981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.960899 meters # Minimum depth: 351.120878 meters looking forward 200.000000 meters along route # Maximum depth: 354.607922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.120878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.378547; longitude = -126.115744; captureRadius = 10; duration = 106; initialDepth = 311.120878; finalDepth = 309.214038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.202313 # Actual altitude: 50 # Commanded vehicle depth:311.120878 # Seafloor depth:-353.323191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.960971 meters # Minimum depth: 352.948509 meters looking forward 200.000000 meters along route # Maximum depth: 356.163956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.948509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.377604; longitude = -126.115464; captureRadius = 10; duration = 106; initialDepth = 312.948509; finalDepth = 311.120878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.202313 # Actual altitude: 50 # Commanded vehicle depth:312.948509 # Seafloor depth:-354.356824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 112.032917 meters # Minimum depth: 354.753498 meters looking forward 200.000000 meters along route # Maximum depth: 358.096147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.753498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.376660; longitude = -126.115183; captureRadius = 10; duration = 112; initialDepth = 314.753498; finalDepth = 312.948509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.408315 # Actual altitude: 50 # Commanded vehicle depth:314.753498 # Seafloor depth:-355.981009 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 55.064439 meters # Minimum depth: 355.486700 meters looking forward 200.000000 meters along route # Maximum depth: 358.829596 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.486700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.375672; longitude = -126.114889; captureRadius = 10; duration = 55; initialDepth = 315.486700; finalDepth = 314.753498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.729639 # Actual altitude: 50 # Commanded vehicle depth:315.4867 # Seafloor depth:-358.216339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082665 meters # Minimum depth: 356.837761 meters looking forward 200.000000 meters along route # Maximum depth: 363.545840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.837761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.375178; longitude = -126.114930; captureRadius = 10; duration = 105; initialDepth = 316.837761; finalDepth = 315.486700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.729639 # Actual altitude: 50 # Commanded vehicle depth:316.837761 # Seafloor depth:-359.437226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082653 meters # Minimum depth: 360.298654 meters looking forward 200.000000 meters along route # Maximum depth: 366.990977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.298654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.374234; longitude = -126.115009; captureRadius = 10; duration = 105; initialDepth = 320.298654; finalDepth = 316.837761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.688448 # Actual altitude: 50 # Commanded vehicle depth:320.298654 # Seafloor depth:-363.987102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082640 meters # Minimum depth: 364.372982 meters looking forward 200.000000 meters along route # Maximum depth: 370.026736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.372982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.373291; longitude = -126.115087; captureRadius = 10; duration = 105; initialDepth = 324.372982; finalDepth = 320.298654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.688448 # Actual altitude: 50 # Commanded vehicle depth:324.372982 # Seafloor depth:-367.125397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082628 meters # Minimum depth: 367.563530 meters looking forward 200.000000 meters along route # Maximum depth: 374.412579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.563530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.372347; longitude = -126.115166; captureRadius = 10; duration = 105; initialDepth = 327.563530; finalDepth = 324.372982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.044711 # Actual altitude: 50 # Commanded vehicle depth:327.56353 # Seafloor depth:-370.608241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082616 meters # Minimum depth: 370.993645 meters looking forward 200.000000 meters along route # Maximum depth: 378.660368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.993645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.371404; longitude = -126.115245; captureRadius = 10; duration = 105; initialDepth = 330.993645; finalDepth = 327.563530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.835336 # Actual altitude: 50 # Commanded vehicle depth:330.993645 # Seafloor depth:-374.828981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082604 meters # Minimum depth: 376.166817 meters looking forward 200.000000 meters along route # Maximum depth: 382.791551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.166817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.370461; longitude = -126.115323; captureRadius = 10; duration = 105; initialDepth = 336.166817; finalDepth = 330.993645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.835336 # Actual altitude: 50 # Commanded vehicle depth:336.166817 # Seafloor depth:-379.289793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.082591 meters # Minimum depth: 380.290936 meters looking forward 200.000000 meters along route # Maximum depth: 385.752512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.290936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.369517; longitude = -126.115402; captureRadius = 10; duration = 105; initialDepth = 340.290936; finalDepth = 336.166817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.393897 # Actual altitude: 50 # Commanded vehicle depth:340.290936 # Seafloor depth:-383.684833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.030846 meters # Minimum depth: 384.012829 meters looking forward 200.000000 meters along route # Maximum depth: 389.178698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.012829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368574; longitude = -126.115481; captureRadius = 10; duration = 110; initialDepth = 344.012829; finalDepth = 340.290936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.393897 # Actual altitude: 50 # Commanded vehicle depth:344.012829 # Seafloor depth:-385.613222 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 22.651969 meters # Minimum depth: 384.027745 meters looking forward 200.000000 meters along route # Maximum depth: 390.142147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.027745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.367586; longitude = -126.115563; captureRadius = 10; duration = 22; initialDepth = 344.027745; finalDepth = 344.012829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.493312 # Actual altitude: 50 # Commanded vehicle depth:344.027745 # Seafloor depth:-389.521057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700003 meters # Minimum depth: 387.267654 meters looking forward 200.000000 meters along route # Maximum depth: 393.130501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.267654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.367391; longitude = -126.115653; captureRadius = 10; duration = 101; initialDepth = 347.267654; finalDepth = 344.027745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.493312 # Actual altitude: 50 # Commanded vehicle depth:347.267654 # Seafloor depth:-391.311348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700127 meters # Minimum depth: 391.016745 meters looking forward 200.000000 meters along route # Maximum depth: 397.526163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.016745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.366518; longitude = -126.116057; captureRadius = 10; duration = 101; initialDepth = 351.016745; finalDepth = 347.267654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.043694 # Actual altitude: 50 # Commanded vehicle depth:351.016745 # Seafloor depth:-392.205414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700249 meters # Minimum depth: 394.973921 meters looking forward 200.000000 meters along route # Maximum depth: 400.144639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.973921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.365644; longitude = -126.116462; captureRadius = 10; duration = 101; initialDepth = 354.973921; finalDepth = 351.016745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.745865 # Actual altitude: 50 # Commanded vehicle depth:354.973921 # Seafloor depth:-397.719786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700372 meters # Minimum depth: 397.806271 meters looking forward 200.000000 meters along route # Maximum depth: 401.995767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.806271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.364770; longitude = -126.116866; captureRadius = 10; duration = 101; initialDepth = 357.806271; finalDepth = 354.973921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.745865 # Actual altitude: 50 # Commanded vehicle depth:357.806271 # Seafloor depth:-400.347170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700495 meters # Minimum depth: 399.940100 meters looking forward 200.000000 meters along route # Maximum depth: 404.548820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.940100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.363896; longitude = -126.117270; captureRadius = 10; duration = 101; initialDepth = 359.940100; finalDepth = 357.806271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.850545 # Actual altitude: 50 # Commanded vehicle depth:359.9401 # Seafloor depth:-402.790645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700618 meters # Minimum depth: 403.071981 meters looking forward 200.000000 meters along route # Maximum depth: 406.336400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.071981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.363022; longitude = -126.117675; captureRadius = 10; duration = 101; initialDepth = 363.071981; finalDepth = 359.940100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.850545 # Actual altitude: 50 # Commanded vehicle depth:363.071981 # Seafloor depth:-404.773671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700741 meters # Minimum depth: 405.484722 meters looking forward 200.000000 meters along route # Maximum depth: 409.311133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.484722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.362148; longitude = -126.118079; captureRadius = 10; duration = 101; initialDepth = 365.484722; finalDepth = 363.071981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.70169 # Actual altitude: 50 # Commanded vehicle depth:365.484722 # Seafloor depth:-406.534294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700863 meters # Minimum depth: 406.590143 meters looking forward 200.000000 meters along route # Maximum depth: 411.055211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.590143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.361274; longitude = -126.118483; captureRadius = 10; duration = 101; initialDepth = 366.590143; finalDepth = 365.484722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.745709 # Actual altitude: 50 # Commanded vehicle depth:366.590143 # Seafloor depth:-409.335852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.700986 meters # Minimum depth: 409.463987 meters looking forward 200.000000 meters along route # Maximum depth: 414.051012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.463987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.360401; longitude = -126.118888; captureRadius = 10; duration = 101; initialDepth = 369.463987; finalDepth = 366.590143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.745709 # Actual altitude: 50 # Commanded vehicle depth:369.463987 # Seafloor depth:-411.392418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 112.967658 meters # Minimum depth: 411.977827 meters looking forward 200.000000 meters along route # Maximum depth: 418.616050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.977827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359527; longitude = -126.119292; captureRadius = 10; duration = 112; initialDepth = 371.977827; finalDepth = 369.463987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.088208 # Actual altitude: 50 # Commanded vehicle depth:371.977827 # Seafloor depth:-414.066035 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 12.223845 meters # Minimum depth: 412.031548 meters looking forward 200.000000 meters along route # Maximum depth: 419.216606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.031548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358556; longitude = -126.119741; captureRadius = 10; duration = 12; initialDepth = 372.031548; finalDepth = 371.977827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.185058 # Actual altitude: 50 # Commanded vehicle depth:372.031548 # Seafloor depth:-419.216606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.851649 meters # Minimum depth: 414.949331 meters looking forward 200.000000 meters along route # Maximum depth: 422.974040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.949331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358464; longitude = -126.119831; captureRadius = 10; duration = 109; initialDepth = 374.949331; finalDepth = 372.031548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.185058 # Actual altitude: 50 # Commanded vehicle depth:374.949331 # Seafloor depth:-418.982130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.852134 meters # Minimum depth: 420.548955 meters looking forward 200.000000 meters along route # Maximum depth: 427.848799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.548955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.357636; longitude = -126.120640; captureRadius = 10; duration = 109; initialDepth = 380.548955; finalDepth = 374.949331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.032799 # Actual altitude: 50 # Commanded vehicle depth:380.548955 # Seafloor depth:-422.968535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.959946 meters # Minimum depth: 423.909139 meters looking forward 200.000000 meters along route # Maximum depth: 431.806871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.909139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356808; longitude = -126.121448; captureRadius = 10; duration = 101; initialDepth = 383.909139; finalDepth = 380.548955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.131307 # Actual altitude: 50 # Commanded vehicle depth:383.909139 # Seafloor depth:-428.040446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 107.312892 meters # Minimum depth: 428.253717 meters looking forward 200.000000 meters along route # Maximum depth: 436.955202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.253717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356040; longitude = -126.122199; captureRadius = 10; duration = 107; initialDepth = 388.253717; finalDepth = 383.909139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.57837 # Actual altitude: 50 # Commanded vehicle depth:388.253717 # Seafloor depth:-432.832087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 107.313355 meters # Minimum depth: 433.815756 meters looking forward 200.000000 meters along route # Maximum depth: 443.220048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.815756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.355231; longitude = -126.122989; captureRadius = 10; duration = 107; initialDepth = 393.815756; finalDepth = 388.253717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.57837 # Actual altitude: 50 # Commanded vehicle depth:393.815756 # Seafloor depth:-437.389672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 107.313819 meters # Minimum depth: 438.204599 meters looking forward 200.000000 meters along route # Maximum depth: 449.029564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.204599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354423; longitude = -126.123779; captureRadius = 10; duration = 107; initialDepth = 398.204599; finalDepth = 393.815756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3239 # Actual altitude: 50 # Commanded vehicle depth:398.204599 # Seafloor depth:-443.528499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 113.222928 meters # Minimum depth: 445.353449 meters looking forward 200.000000 meters along route # Maximum depth: 454.276477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.353449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353614; longitude = -126.124569; captureRadius = 10; duration = 113; initialDepth = 405.353449; finalDepth = 398.204599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3239 # Actual altitude: 50 # Commanded vehicle depth:405.353449 # Seafloor depth:-449.180834 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 64.376606 meters # Minimum depth: 448.149741 meters looking forward 200.000000 meters along route # Maximum depth: 458.197184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.149741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352761; longitude = -126.125402; captureRadius = 10; duration = 64; initialDepth = 408.149741; finalDepth = 405.353449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.71119 # Actual altitude: 50 # Commanded vehicle depth:408.149741 # Seafloor depth:-454.860931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.439399 meters # Minimum depth: 453.311134 meters looking forward 200.000000 meters along route # Maximum depth: 465.654408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.311134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352362; longitude = -126.126030; captureRadius = 10; duration = 110; initialDepth = 413.311134; finalDepth = 408.149741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.71119 # Actual altitude: 50 # Commanded vehicle depth:413.311134 # Seafloor depth:-458.475143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347940 meters # Minimum depth: 459.457033 meters looking forward 200.000000 meters along route # Maximum depth: 474.096594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.457033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351676; longitude = -126.127109; captureRadius = 10; duration = 100; initialDepth = 419.457033; finalDepth = 413.311134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.769322 # Actual altitude: 50 # Commanded vehicle depth:419.457033 # Seafloor depth:-466.226355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.593050 meters # Minimum depth: 467.047197 meters looking forward 200.000000 meters along route # Maximum depth: 483.967759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.047197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351053; longitude = -126.128088; captureRadius = 10; duration = 108; initialDepth = 427.047197; finalDepth = 419.457033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.416211 # Actual altitude: 50 # Commanded vehicle depth:427.047197 # Seafloor depth:-474.463408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.593751 meters # Minimum depth: 476.293852 meters looking forward 200.000000 meters along route # Maximum depth: 493.964704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.293852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.350380; longitude = -126.129148; captureRadius = 10; duration = 108; initialDepth = 436.293852; finalDepth = 427.047197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.900831 # Actual altitude: 50 # Commanded vehicle depth:436.293852 # Seafloor depth:-484.194683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.424774 meters # Minimum depth: 486.519299 meters looking forward 200.000000 meters along route # Maximum depth: 504.216976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.519299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349706; longitude = -126.130209; captureRadius = 10; duration = 110; initialDepth = 446.519299; finalDepth = 436.293852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.900831 # Actual altitude: 50 # Commanded vehicle depth:446.519299 # Seafloor depth:-493.967855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.442932 meters # Minimum depth: 497.699965 meters looking forward 200.000000 meters along route # Maximum depth: 512.459968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.699965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349021; longitude = -126.131287; captureRadius = 10; duration = 110; initialDepth = 457.699965; finalDepth = 446.519299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.448556 # Actual altitude: 50 # Commanded vehicle depth:457.699965 # Seafloor depth:-504.389419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.443657 meters # Minimum depth: 506.615104 meters looking forward 200.000000 meters along route # Maximum depth: 520.235854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.615104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.348335; longitude = -126.132365; captureRadius = 10; duration = 110; initialDepth = 466.615104; finalDepth = 457.699965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.689454 # Actual altitude: 50 # Commanded vehicle depth:466.615104 # Seafloor depth:-512.711072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.444382 meters # Minimum depth: 514.635857 meters looking forward 200.000000 meters along route # Maximum depth: 527.185421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.635857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347650; longitude = -126.133443; captureRadius = 10; duration = 110; initialDepth = 474.635857; finalDepth = 466.615104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.095968 # Actual altitude: 50 # Commanded vehicle depth:474.635857 # Seafloor depth:-520.653478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.223520 meters # Minimum depth: 521.752341 meters looking forward 200.000000 meters along route # Maximum depth: 533.988957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.752341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346965; longitude = -126.134521; captureRadius = 10; duration = 101; initialDepth = 481.752341; finalDepth = 474.635857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.017621 # Actual altitude: 50 # Commanded vehicle depth:481.752341 # Seafloor depth:-527.637261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.283822 meters # Minimum depth: 528.516395 meters looking forward 200.000000 meters along route # Maximum depth: 540.454037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.516395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346336; longitude = -126.135509; captureRadius = 10; duration = 101; initialDepth = 488.516395; finalDepth = 481.752341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.88492 # Actual altitude: 50 # Commanded vehicle depth:488.516395 # Seafloor depth:-534.280088 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 3.737137 meters # Minimum depth: 528.516395 meters looking forward 200.000000 meters along route # Maximum depth: 540.934860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.516395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345708; longitude = -126.136498; captureRadius = 10; duration = 3; initialDepth = 488.516395; finalDepth = 488.516395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.418465 # Actual altitude: 52.418465 # Commanded vehicle depth:488.516395 # Seafloor depth:-540.934860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 125.80; MB_Bottom_Detect_Filter_Min_Depth = 26.21; MB_Bottom_Detect_Filter_Max_Depth = 125.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.434038 meters # Minimum depth: 534.904510 meters looking forward 200.000000 meters along route # Maximum depth: 545.141558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.904510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345692; longitude = -126.136543; captureRadius = 10; duration = 101; initialDepth = 494.904510; finalDepth = 488.516395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.418465 # Actual altitude: 52.418465 # Commanded vehicle depth:494.90451 # Seafloor depth:-541.365081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 125.80; MB_Bottom_Detect_Filter_Min_Depth = 26.21; MB_Bottom_Detect_Filter_Max_Depth = 125.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.434649 meters # Minimum depth: 541.629117 meters looking forward 200.000000 meters along route # Maximum depth: 553.709570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.629117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345270; longitude = -126.137756; captureRadius = 10; duration = 101; initialDepth = 501.629117; finalDepth = 494.904510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4605710000001 # Actual altitude: 50 # Commanded vehicle depth:501.629117 # Seafloor depth:-546.025032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.435258 meters # Minimum depth: 545.752023 meters looking forward 200.000000 meters along route # Maximum depth: 561.578006 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.752023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344848; longitude = -126.138969; captureRadius = 10; duration = 101; initialDepth = 505.752023; finalDepth = 501.629117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.124868 # Actual altitude: 50 # Commanded vehicle depth:505.752023 # Seafloor depth:-553.876891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.435869 meters # Minimum depth: 554.476184 meters looking forward 200.000000 meters along route # Maximum depth: 566.603136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.476184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344426; longitude = -126.140182; captureRadius = 10; duration = 101; initialDepth = 514.476184; finalDepth = 505.752023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.124868 # Actual altitude: 50 # Commanded vehicle depth:514.476184 # Seafloor depth:-561.245042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.436478 meters # Minimum depth: 561.546019 meters looking forward 200.000000 meters along route # Maximum depth: 573.232293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.546019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344005; longitude = -126.141394; captureRadius = 10; duration = 101; initialDepth = 521.546019; finalDepth = 514.476184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.768858 # Actual altitude: 50 # Commanded vehicle depth:521.546019 # Seafloor depth:-566.993253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.437088 meters # Minimum depth: 567.661657 meters looking forward 200.000000 meters along route # Maximum depth: 579.180977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.661657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343583; longitude = -126.142607; captureRadius = 10; duration = 101; initialDepth = 527.661657; finalDepth = 521.546019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.235102 # Actual altitude: 50 # Commanded vehicle depth:527.661657 # Seafloor depth:-573.896759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.437699 meters # Minimum depth: 574.776628 meters looking forward 200.000000 meters along route # Maximum depth: 585.105167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.776628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343161; longitude = -126.143820; captureRadius = 10; duration = 101; initialDepth = 534.776628; finalDepth = 527.661657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.235102 # Actual altitude: 50 # Commanded vehicle depth:534.776628 # Seafloor depth:-579.610898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.438308 meters # Minimum depth: 579.965750 meters looking forward 200.000000 meters along route # Maximum depth: 592.835705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.965750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342739; longitude = -126.145033; captureRadius = 10; duration = 101; initialDepth = 539.965750; finalDepth = 534.776628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.481624 # Actual altitude: 50 # Commanded vehicle depth:539.96575 # Seafloor depth:-586.447374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.781742 meters # Minimum depth: 587.514311 meters looking forward 200.000000 meters along route # Maximum depth: 600.777383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.514311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342317; longitude = -126.146246; captureRadius = 10; duration = 102; initialDepth = 547.514311; finalDepth = 539.965750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.481624 # Actual altitude: 50 # Commanded vehicle depth:547.514311 # Seafloor depth:-593.543337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.096705 meters # Minimum depth: 593.913994 meters looking forward 200.000000 meters along route # Maximum depth: 609.733047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.913994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341889; longitude = -126.147475; captureRadius = 10; duration = 100; initialDepth = 553.913994; finalDepth = 547.514311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.965247 # Actual altitude: 50 # Commanded vehicle depth:553.913994 # Seafloor depth:-600.879241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.195167 meters # Minimum depth: 601.675719 meters looking forward 200.000000 meters along route # Maximum depth: 620.469536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.675719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341473; longitude = -126.148672; captureRadius = 10; duration = 105; initialDepth = 561.675719; finalDepth = 553.913994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.364196 # Actual altitude: 50 # Commanded vehicle depth:561.675719 # Seafloor depth:-610.039915 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 6.902795 meters # Minimum depth: 602.612471 meters looking forward 200.000000 meters along route # Maximum depth: 621.396469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.612471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341035; longitude = -126.149930; captureRadius = 10; duration = 6; initialDepth = 562.612471; finalDepth = 561.675719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.783998 # Actual altitude: 58.783998 # Commanded vehicle depth:562.612471 # Seafloor depth:-621.396469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 141.08; MB_Bottom_Detect_Filter_Min_Depth = 29.39; MB_Bottom_Detect_Filter_Max_Depth = 141.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.514247 meters # Minimum depth: 612.276215 meters looking forward 200.000000 meters along route # Maximum depth: 629.883670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.276215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341019; longitude = -126.150020; captureRadius = 10; duration = 103; initialDepth = 572.276215; finalDepth = 562.612471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.783998 # Actual altitude: 58.783998 # Commanded vehicle depth:572.276215 # Seafloor depth:-621.986404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 141.08; MB_Bottom_Detect_Filter_Min_Depth = 29.39; MB_Bottom_Detect_Filter_Max_Depth = 141.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.514651 meters # Minimum depth: 623.217345 meters looking forward 200.000000 meters along route # Maximum depth: 638.744912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.217345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340776; longitude = -126.151368; captureRadius = 10; duration = 103; initialDepth = 583.217345; finalDepth = 572.276215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.710189 # Actual altitude: 50 # Commanded vehicle depth:583.217345 # Seafloor depth:-630.629016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.515056 meters # Minimum depth: 631.335590 meters looking forward 200.000000 meters along route # Maximum depth: 645.979533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.335590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340533; longitude = -126.152715; captureRadius = 10; duration = 103; initialDepth = 591.335590; finalDepth = 583.217345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.536918 # Actual altitude: 50 # Commanded vehicle depth:591.33559 # Seafloor depth:-638.872508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.515461 meters # Minimum depth: 639.561265 meters looking forward 200.000000 meters along route # Maximum depth: 654.353544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.561265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340290; longitude = -126.154063; captureRadius = 10; duration = 103; initialDepth = 599.561265; finalDepth = 591.335590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.536918 # Actual altitude: 50 # Commanded vehicle depth:599.561265 # Seafloor depth:-647.006748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.515867 meters # Minimum depth: 647.678208 meters looking forward 200.000000 meters along route # Maximum depth: 662.364895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.678208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340047; longitude = -126.155411; captureRadius = 10; duration = 103; initialDepth = 607.678208; finalDepth = 599.561265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.445483 # Actual altitude: 50 # Commanded vehicle depth:607.678208 # Seafloor depth:-654.842277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.516272 meters # Minimum depth: 655.657066 meters looking forward 200.000000 meters along route # Maximum depth: 668.803426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.657066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339804; longitude = -126.156758; captureRadius = 10; duration = 103; initialDepth = 615.657066; finalDepth = 607.678208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.219596 # Actual altitude: 50 # Commanded vehicle depth:615.657066 # Seafloor depth:-662.876662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.516677 meters # Minimum depth: 663.316663 meters looking forward 200.000000 meters along route # Maximum depth: 672.740492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.316663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339561; longitude = -126.158106; captureRadius = 10; duration = 103; initialDepth = 623.316663; finalDepth = 615.657066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.219596 # Actual altitude: 50 # Commanded vehicle depth:623.316663 # Seafloor depth:-669.369263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.517082 meters # Minimum depth: 669.943124 meters looking forward 200.000000 meters along route # Maximum depth: 676.663523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.943124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339318; longitude = -126.159454; captureRadius = 10; duration = 103; initialDepth = 629.943124; finalDepth = 623.316663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0526000000001 # Actual altitude: 50 # Commanded vehicle depth:629.943124 # Seafloor depth:-672.929259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.517487 meters # Minimum depth: 673.227457 meters looking forward 200.000000 meters along route # Maximum depth: 681.432561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.227457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339075; longitude = -126.160802; captureRadius = 10; duration = 103; initialDepth = 633.227457; finalDepth = 629.943124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.8773960000001 # Actual altitude: 50 # Commanded vehicle depth:633.227457 # Seafloor depth:-677.104853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.517893 meters # Minimum depth: 677.574785 meters looking forward 200.000000 meters along route # Maximum depth: 687.314849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.574785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338832; longitude = -126.162149; captureRadius = 10; duration = 103; initialDepth = 637.574785; finalDepth = 633.227457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.327464 # Actual altitude: 50 # Commanded vehicle depth:637.574785 # Seafloor depth:-681.902249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.518298 meters # Minimum depth: 682.610368 meters looking forward 200.000000 meters along route # Maximum depth: 693.425613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.610368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338589; longitude = -126.163497; captureRadius = 10; duration = 103; initialDepth = 642.610368; finalDepth = 637.574785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.338733 # Actual altitude: 50 # Commanded vehicle depth:642.610368 # Seafloor depth:-687.949101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.518703 meters # Minimum depth: 688.593520 meters looking forward 200.000000 meters along route # Maximum depth: 700.621252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.593520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338346; longitude = -126.164845; captureRadius = 10; duration = 103; initialDepth = 648.593520; finalDepth = 642.610368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.535046 # Actual altitude: 50 # Commanded vehicle depth:648.59352 # Seafloor depth:-694.128566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.519108 meters # Minimum depth: 694.742087 meters looking forward 200.000000 meters along route # Maximum depth: 706.411458 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.742087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338103; longitude = -126.166192; captureRadius = 10; duration = 103; initialDepth = 654.742087; finalDepth = 648.593520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.042332 # Actual altitude: 50 # Commanded vehicle depth:654.742087 # Seafloor depth:-700.784419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.519514 meters # Minimum depth: 701.310715 meters looking forward 200.000000 meters along route # Maximum depth: 713.810429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.310715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337860; longitude = -126.167540; captureRadius = 10; duration = 103; initialDepth = 661.310715; finalDepth = 654.742087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.042332 # Actual altitude: 50 # Commanded vehicle depth:661.310715 # Seafloor depth:-707.340310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.519919 meters # Minimum depth: 708.276099 meters looking forward 200.000000 meters along route # Maximum depth: 719.752242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.276099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337617; longitude = -126.168888; captureRadius = 10; duration = 103; initialDepth = 668.276099; finalDepth = 661.310715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1523619999999 # Actual altitude: 50 # Commanded vehicle depth:668.276099 # Seafloor depth:-714.428461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.520325 meters # Minimum depth: 715.268100 meters looking forward 200.000000 meters along route # Maximum depth: 725.458317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.268100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337374; longitude = -126.170236; captureRadius = 10; duration = 103; initialDepth = 675.268100; finalDepth = 668.276099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1523619999999 # Actual altitude: 50 # Commanded vehicle depth:675.2681 # Seafloor depth:-720.438406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.520730 meters # Minimum depth: 721.299588 meters looking forward 200.000000 meters along route # Maximum depth: 729.043948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.299588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337131; longitude = -126.171583; captureRadius = 10; duration = 103; initialDepth = 681.299588; finalDepth = 675.268100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.170306 # Actual altitude: 50 # Commanded vehicle depth:681.299588 # Seafloor depth:-725.577715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.521135 meters # Minimum depth: 725.663563 meters looking forward 200.000000 meters along route # Maximum depth: 733.894550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.663563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336888; longitude = -126.172931; captureRadius = 10; duration = 103; initialDepth = 685.663563; finalDepth = 681.299588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.278127 # Actual altitude: 50 # Commanded vehicle depth:685.663563 # Seafloor depth:-729.421964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.521541 meters # Minimum depth: 730.059566 meters looking forward 200.000000 meters along route # Maximum depth: 738.896502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.059566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336645; longitude = -126.174279; captureRadius = 10; duration = 103; initialDepth = 690.059566; finalDepth = 685.663563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.279182 # Actual altitude: 50 # Commanded vehicle depth:690.059566 # Seafloor depth:-734.338748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.521947 meters # Minimum depth: 734.897642 meters looking forward 200.000000 meters along route # Maximum depth: 747.328033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.897642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336402; longitude = -126.175627; captureRadius = 10; duration = 103; initialDepth = 694.897642; finalDepth = 690.059566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2907799999999 # Actual altitude: 50 # Commanded vehicle depth:694.897642 # Seafloor depth:-739.188422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.522352 meters # Minimum depth: 739.542406 meters looking forward 200.000000 meters along route # Maximum depth: 754.225868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.542406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336159; longitude = -126.176974; captureRadius = 10; duration = 103; initialDepth = 699.542406; finalDepth = 694.897642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.298197 # Actual altitude: 50 # Commanded vehicle depth:699.542406 # Seafloor depth:-747.840603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.522757 meters # Minimum depth: 748.183786 meters looking forward 200.000000 meters along route # Maximum depth: 760.162872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.183786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335916; longitude = -126.178322; captureRadius = 10; duration = 103; initialDepth = 708.183786; finalDepth = 699.542406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.298197 # Actual altitude: 50 # Commanded vehicle depth:708.183786 # Seafloor depth:-754.419161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.523163 meters # Minimum depth: 754.578223 meters looking forward 200.000000 meters along route # Maximum depth: 765.234643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.578223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335673; longitude = -126.179670; captureRadius = 10; duration = 103; initialDepth = 714.578223; finalDepth = 708.183786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.235375 # Actual altitude: 50 # Commanded vehicle depth:714.578223 # Seafloor depth:-760.237807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.058320 meters # Minimum depth: 760.710415 meters looking forward 200.000000 meters along route # Maximum depth: 765.964697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.710415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335430; longitude = -126.181017; captureRadius = 10; duration = 100; initialDepth = 720.710415; finalDepth = 714.578223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.659584 # Actual altitude: 50 # Commanded vehicle depth:720.710415 # Seafloor depth:-764.955530 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 93.331056 meters # Minimum depth: 764.873474 meters looking forward 200.000000 meters along route # Maximum depth: 771.221949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.873474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335195; longitude = -126.182320; captureRadius = 10; duration = 93; initialDepth = 724.873474; finalDepth = 720.710415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2451149999999 # Actual altitude: 50 # Commanded vehicle depth:724.873474 # Seafloor depth:-766.109024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980865 meters # Minimum depth: 765.776368 meters looking forward 200.000000 meters along route # Maximum depth: 779.364895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.776368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335169; longitude = -126.183578; captureRadius = 10; duration = 109; initialDepth = 725.776368; finalDepth = 724.873474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0764499999999 # Actual altitude: 50 # Commanded vehicle depth:725.776368 # Seafloor depth:-771.852818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980869 meters # Minimum depth: 773.143702 meters looking forward 200.000000 meters along route # Maximum depth: 782.282848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.143702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335138; longitude = -126.185061; captureRadius = 10; duration = 109; initialDepth = 733.143702; finalDepth = 725.776368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.770936 # Actual altitude: 50 # Commanded vehicle depth:733.143702 # Seafloor depth:-779.914638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980874 meters # Minimum depth: 780.649564 meters looking forward 200.000000 meters along route # Maximum depth: 786.947705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.649564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335107; longitude = -126.186543; captureRadius = 10; duration = 109; initialDepth = 740.649564; finalDepth = 733.143702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.770936 # Actual altitude: 50 # Commanded vehicle depth:740.649564 # Seafloor depth:-782.399189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980877 meters # Minimum depth: 783.049513 meters looking forward 200.000000 meters along route # Maximum depth: 795.809488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.049513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335077; longitude = -126.188026; captureRadius = 10; duration = 109; initialDepth = 743.049513; finalDepth = 740.649564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3335649999999 # Actual altitude: 50 # Commanded vehicle depth:743.049513 # Seafloor depth:-787.383078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.489503 meters # Minimum depth: 788.414214 meters looking forward 200.000000 meters along route # Maximum depth: 806.529434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.414214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335046; longitude = -126.189508; captureRadius = 10; duration = 108; initialDepth = 748.414214; finalDepth = 743.049513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.525483 # Actual altitude: 50 # Commanded vehicle depth:748.414214 # Seafloor depth:-796.939697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.474003 meters # Minimum depth: 798.078053 meters looking forward 200.000000 meters along route # Maximum depth: 816.993641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.078053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335016; longitude = -126.190970; captureRadius = 10; duration = 101; initialDepth = 758.078053; finalDepth = 748.414214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5739970000001 # Actual altitude: 50 # Commanded vehicle depth:758.078053 # Seafloor depth:-807.652050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980890 meters # Minimum depth: 809.092449 meters looking forward 200.000000 meters along route # Maximum depth: 827.002601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.092449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334987; longitude = -126.192338; captureRadius = 10; duration = 109; initialDepth = 769.092449; finalDepth = 758.078053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5739970000001 # Actual altitude: 50 # Commanded vehicle depth:769.092449 # Seafloor depth:-817.819083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980895 meters # Minimum depth: 819.892550 meters looking forward 200.000000 meters along route # Maximum depth: 834.707875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.892550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334957; longitude = -126.193821; captureRadius = 10; duration = 109; initialDepth = 779.892550; finalDepth = 769.092449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.726634 # Actual altitude: 50 # Commanded vehicle depth:779.89255 # Seafloor depth:-827.587753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980898 meters # Minimum depth: 829.169757 meters looking forward 200.000000 meters along route # Maximum depth: 843.555278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.169757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334926; longitude = -126.195303; captureRadius = 10; duration = 109; initialDepth = 789.169757; finalDepth = 779.892550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.695203 # Actual altitude: 50 # Commanded vehicle depth:789.169757 # Seafloor depth:-835.603845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980904 meters # Minimum depth: 837.098101 meters looking forward 200.000000 meters along route # Maximum depth: 854.820228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.098101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334895; longitude = -126.196786; captureRadius = 10; duration = 109; initialDepth = 797.098101; finalDepth = 789.169757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.32178 # Actual altitude: 50 # Commanded vehicle depth:797.098101 # Seafloor depth:-844.419881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980908 meters # Minimum depth: 846.530463 meters looking forward 200.000000 meters along route # Maximum depth: 867.024332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.530463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334864; longitude = -126.198268; captureRadius = 10; duration = 109; initialDepth = 806.530463; finalDepth = 797.098101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8532269999999 # Actual altitude: 50 # Commanded vehicle depth:806.530463 # Seafloor depth:-855.383690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980912 meters # Minimum depth: 856.734239 meters looking forward 200.000000 meters along route # Maximum depth: 878.490327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.734239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334834; longitude = -126.199751; captureRadius = 10; duration = 109; initialDepth = 816.734239; finalDepth = 806.530463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.311818 # Actual altitude: 51.311818 # Commanded vehicle depth:816.734239 # Seafloor depth:-868.046057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 123.15; MB_Bottom_Detect_Filter_Min_Depth = 25.66; MB_Bottom_Detect_Filter_Max_Depth = 123.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980917 meters # Minimum depth: 870.262185 meters looking forward 200.000000 meters along route # Maximum depth: 892.849260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.262185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334803; longitude = -126.201233; captureRadius = 10; duration = 109; initialDepth = 830.262185; finalDepth = 816.734239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.311818 # Actual altitude: 51.311818 # Commanded vehicle depth:830.262185 # Seafloor depth:-879.544564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 123.15; MB_Bottom_Detect_Filter_Min_Depth = 25.66; MB_Bottom_Detect_Filter_Max_Depth = 123.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980921 meters # Minimum depth: 882.242245 meters looking forward 200.000000 meters along route # Maximum depth: 906.409819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.242245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334772; longitude = -126.202716; captureRadius = 10; duration = 109; initialDepth = 842.242245; finalDepth = 830.262185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.039979 # Actual altitude: 52.039979 # Commanded vehicle depth:842.242245 # Seafloor depth:-894.282224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 124.90; MB_Bottom_Detect_Filter_Min_Depth = 26.02; MB_Bottom_Detect_Filter_Max_Depth = 124.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980926 meters # Minimum depth: 896.726164 meters looking forward 200.000000 meters along route # Maximum depth: 918.770319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.726164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334741; longitude = -126.204198; captureRadius = 10; duration = 109; initialDepth = 856.726164; finalDepth = 842.242245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.039979 # Actual altitude: 52.039979 # Commanded vehicle depth:856.726164 # Seafloor depth:-907.561088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 124.90; MB_Bottom_Detect_Filter_Min_Depth = 26.02; MB_Bottom_Detect_Filter_Max_Depth = 124.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980931 meters # Minimum depth: 909.022246 meters looking forward 200.000000 meters along route # Maximum depth: 930.037041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.022246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334711; longitude = -126.205681; captureRadius = 10; duration = 109; initialDepth = 869.022246; finalDepth = 856.726164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.063168 # Actual altitude: 51.063168 # Commanded vehicle depth:869.022246 # Seafloor depth:-920.085414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 122.55; MB_Bottom_Detect_Filter_Min_Depth = 25.53; MB_Bottom_Detect_Filter_Max_Depth = 122.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980936 meters # Minimum depth: 923.247569 meters looking forward 200.000000 meters along route # Maximum depth: 938.861533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.247569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334680; longitude = -126.207163; captureRadius = 10; duration = 109; initialDepth = 883.247569; finalDepth = 869.022246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.063168 # Actual altitude: 51.063168 # Commanded vehicle depth:883.247569 # Seafloor depth:-930.636490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 122.55; MB_Bottom_Detect_Filter_Min_Depth = 25.53; MB_Bottom_Detect_Filter_Max_Depth = 122.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980940 meters # Minimum depth: 932.434288 meters looking forward 200.000000 meters along route # Maximum depth: 946.362030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.434288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334649; longitude = -126.208646; captureRadius = 10; duration = 109; initialDepth = 892.434288; finalDepth = 883.247569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5678829999999 # Actual altitude: 50 # Commanded vehicle depth:892.434288 # Seafloor depth:-940.002171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980944 meters # Minimum depth: 942.070124 meters looking forward 200.000000 meters along route # Maximum depth: 949.445590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.070124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334618; longitude = -126.210128; captureRadius = 10; duration = 109; initialDepth = 902.070124; finalDepth = 892.434288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5678829999999 # Actual altitude: 50 # Commanded vehicle depth:902.070124 # Seafloor depth:-946.611542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980950 meters # Minimum depth: 946.350627 meters looking forward 200.000000 meters along route # Maximum depth: 954.829922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.350627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334588; longitude = -126.211611; captureRadius = 10; duration = 109; initialDepth = 906.350627; finalDepth = 902.070124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.541418 # Actual altitude: 50 # Commanded vehicle depth:906.350627 # Seafloor depth:-949.724510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980954 meters # Minimum depth: 950.780998 meters looking forward 200.000000 meters along route # Maximum depth: 959.254801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.780998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334557; longitude = -126.213093; captureRadius = 10; duration = 109; initialDepth = 910.780998; finalDepth = 906.350627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8312120000001 # Actual altitude: 50 # Commanded vehicle depth:910.780998 # Seafloor depth:-955.612210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980959 meters # Minimum depth: 956.632821 meters looking forward 200.000000 meters along route # Maximum depth: 964.767455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.632821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334526; longitude = -126.214576; captureRadius = 10; duration = 109; initialDepth = 916.632821; finalDepth = 910.780998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8312120000001 # Actual altitude: 50 # Commanded vehicle depth:916.632821 # Seafloor depth:-960.263926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980964 meters # Minimum depth: 962.936615 meters looking forward 200.000000 meters along route # Maximum depth: 969.580132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.936615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334495; longitude = -126.216058; captureRadius = 10; duration = 109; initialDepth = 922.936615; finalDepth = 916.632821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6311049999999 # Actual altitude: 50 # Commanded vehicle depth:922.936615 # Seafloor depth:-964.529565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980969 meters # Minimum depth: 965.495106 meters looking forward 200.000000 meters along route # Maximum depth: 973.889947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.495106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334465; longitude = -126.217541; captureRadius = 10; duration = 109; initialDepth = 925.495106; finalDepth = 922.936615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.9164870000001 # Actual altitude: 50 # Commanded vehicle depth:925.495106 # Seafloor depth:-970.411593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980974 meters # Minimum depth: 970.830972 meters looking forward 200.000000 meters along route # Maximum depth: 977.969740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.830972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334434; longitude = -126.219023; captureRadius = 10; duration = 109; initialDepth = 930.830972; finalDepth = 925.495106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.9164870000001 # Actual altitude: 50 # Commanded vehicle depth:930.830972 # Seafloor depth:-974.223753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980979 meters # Minimum depth: 975.726646 meters looking forward 200.000000 meters along route # Maximum depth: 982.176917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.726646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334403; longitude = -126.220506; captureRadius = 10; duration = 109; initialDepth = 935.726646; finalDepth = 930.830972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.392781 # Actual altitude: 50 # Commanded vehicle depth:935.726646 # Seafloor depth:-978.655683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.960791 meters # Minimum depth: 979.168423 meters looking forward 200.000000 meters along route # Maximum depth: 983.131099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.168423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334373; longitude = -126.221988; captureRadius = 10; duration = 109; initialDepth = 939.168423; finalDepth = 935.726646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.042133 # Actual altitude: 50 # Commanded vehicle depth:939.168423 # Seafloor depth:-982.210556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.002909 meters # Minimum depth: 981.463079 meters looking forward 200.000000 meters along route # Maximum depth: 985.901739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.463079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334342; longitude = -126.223470; captureRadius = 10; duration = 100; initialDepth = 941.463079; finalDepth = 939.168423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.042133 # Actual altitude: 50 # Commanded vehicle depth:941.463079 # Seafloor depth:-983.065168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980994 meters # Minimum depth: 983.237445 meters looking forward 200.000000 meters along route # Maximum depth: 989.892024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.237445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334314; longitude = -126.224818; captureRadius = 10; duration = 109; initialDepth = 943.237445; finalDepth = 941.463079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9898460000001 # Actual altitude: 50 # Commanded vehicle depth:943.237445 # Seafloor depth:-986.227291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.980998 meters # Minimum depth: 987.054570 meters looking forward 200.000000 meters along route # Maximum depth: 993.266068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.054570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334283; longitude = -126.226301; captureRadius = 10; duration = 109; initialDepth = 947.054570; finalDepth = 943.237445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.055887 # Actual altitude: 50 # Commanded vehicle depth:947.05457 # Seafloor depth:-990.110457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.981004 meters # Minimum depth: 990.792446 meters looking forward 200.000000 meters along route # Maximum depth: 998.164472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.792446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334252; longitude = -126.227783; captureRadius = 10; duration = 109; initialDepth = 950.792446; finalDepth = 947.054570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.055887 # Actual altitude: 50 # Commanded vehicle depth:950.792446 # Seafloor depth:-993.188637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.981009 meters # Minimum depth: 994.272996 meters looking forward 200.000000 meters along route # Maximum depth: 1005.751300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.272996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334222; longitude = -126.229266; captureRadius = 10; duration = 109; initialDepth = 954.272996; finalDepth = 950.792446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.565531 # Actual altitude: 50 # Commanded vehicle depth:954.272996 # Seafloor depth:-998.838527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.327171 meters # Minimum depth: 1000.433178 meters looking forward 200.000000 meters along route # Maximum depth: 1013.132877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.433178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334191; longitude = -126.230748; captureRadius = 10; duration = 103; initialDepth = 960.433178; finalDepth = 954.272996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.164367 # Actual altitude: 50 # Commanded vehicle depth:960.433178 # Seafloor depth:-1006.597545 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 60.255461 meters # Minimum depth: 1003.647027 meters looking forward 200.000000 meters along route # Maximum depth: 1017.404419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.647027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334162; longitude = -126.232141; captureRadius = 10; duration = 60; initialDepth = 963.647027; finalDepth = 960.433178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8864970000001 # Actual altitude: 50 # Commanded vehicle depth:963.647027 # Seafloor depth:-1013.533524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.355509 meters # Minimum depth: 1011.189166 meters looking forward 200.000000 meters along route # Maximum depth: 1025.638339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.189166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333977; longitude = -126.232905; captureRadius = 10; duration = 106; initialDepth = 971.189166; finalDepth = 963.647027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8864970000001 # Actual altitude: 50 # Commanded vehicle depth:971.189166 # Seafloor depth:-1018.166173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.356056 meters # Minimum depth: 1019.124861 meters looking forward 200.000000 meters along route # Maximum depth: 1034.879952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.124861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333649; longitude = -126.234252; captureRadius = 10; duration = 106; initialDepth = 979.124861; finalDepth = 971.189166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.264122 # Actual altitude: 50 # Commanded vehicle depth:979.124861 # Seafloor depth:-1026.388983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.611537 meters # Minimum depth: 1028.926293 meters looking forward 200.000000 meters along route # Maximum depth: 1046.143306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.926293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333322; longitude = -126.235600; captureRadius = 10; duration = 106; initialDepth = 988.926293; finalDepth = 979.124861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.264122 # Actual altitude: 50 # Commanded vehicle depth:988.926293 # Seafloor depth:-1035.692257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.102218 meters # Minimum depth: 1037.424198 meters looking forward 200.000000 meters along route # Maximum depth: 1060.041562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.424198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332994; longitude = -126.236951; captureRadius = 10; duration = 106; initialDepth = 997.424198; finalDepth = 988.926293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7460560000002 # Actual altitude: 50 # Commanded vehicle depth:997.424198 # Seafloor depth:-1046.170254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.357699 meters # Minimum depth: 1049.161255 meters looking forward 200.000000 meters along route # Maximum depth: 1065.348152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.161255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332668; longitude = -126.238295; captureRadius = 10; duration = 106; initialDepth = 1009.161255; finalDepth = 997.424198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.51161 # Actual altitude: 51.51161 # Commanded vehicle depth:1009.161255 # Seafloor depth:-1060.672865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 123.63; MB_Bottom_Detect_Filter_Min_Depth = 25.76; MB_Bottom_Detect_Filter_Max_Depth = 123.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.358246 meters # Minimum depth: 1062.336202 meters looking forward 200.000000 meters along route # Maximum depth: 1067.550960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.336202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332340; longitude = -126.239643; captureRadius = 10; duration = 106; initialDepth = 1022.336202; finalDepth = 1009.161255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.51161 # Actual altitude: 51.51161 # Commanded vehicle depth:1022.336202 # Seafloor depth:-1065.569048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 123.63; MB_Bottom_Detect_Filter_Min_Depth = 25.76; MB_Bottom_Detect_Filter_Max_Depth = 123.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.358794 meters # Minimum depth: 1066.054939 meters looking forward 200.000000 meters along route # Maximum depth: 1069.441084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.054939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332013; longitude = -126.240991; captureRadius = 10; duration = 106; initialDepth = 1026.054939; finalDepth = 1022.336202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2328460000001 # Actual altitude: 50 # Commanded vehicle depth:1026.054939 # Seafloor depth:-1067.792381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.359341 meters # Minimum depth: 1068.207335 meters looking forward 200.000000 meters along route # Maximum depth: 1075.432605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.207335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331686; longitude = -126.242339; captureRadius = 10; duration = 106; initialDepth = 1028.207335; finalDepth = 1026.054939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7374419999999 # Actual altitude: 50 # Commanded vehicle depth:1028.207335 # Seafloor depth:-1069.494709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.359888 meters # Minimum depth: 1069.559957 meters looking forward 200.000000 meters along route # Maximum depth: 1091.291173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.559957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331359; longitude = -126.243686; captureRadius = 10; duration = 106; initialDepth = 1029.559957; finalDepth = 1028.207335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0920820000001 # Actual altitude: 50 # Commanded vehicle depth:1029.559957 # Seafloor depth:-1076.652039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.736561 meters # Minimum depth: 1081.283784 meters looking forward 200.000000 meters along route # Maximum depth: 1101.389798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.283784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331031; longitude = -126.245034; captureRadius = 10; duration = 106; initialDepth = 1041.283784; finalDepth = 1029.559957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.779186 # Actual altitude: 50.779186 # Commanded vehicle depth:1041.283784 # Seafloor depth:-1092.062970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.87; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 105.984859 meters # Minimum depth: 1093.028045 meters looking forward 200.000000 meters along route # Maximum depth: 1110.688378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.028045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330703; longitude = -126.246386; captureRadius = 10; duration = 105; initialDepth = 1053.028045; finalDepth = 1041.283784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.779186 # Actual altitude: 50.779186 # Commanded vehicle depth:1053.028045 # Seafloor depth:-1101.421225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.87; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.361532 meters # Minimum depth: 1103.170006 meters looking forward 200.000000 meters along route # Maximum depth: 1113.336024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.170006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330377; longitude = -126.247729; captureRadius = 10; duration = 106; initialDepth = 1063.170006; finalDepth = 1053.028045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.39318 # Actual altitude: 50 # Commanded vehicle depth:1063.170006 # Seafloor depth:-1111.383521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.362079 meters # Minimum depth: 1108.168409 meters looking forward 200.000000 meters along route # Maximum depth: 1113.336024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.168409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330050; longitude = -126.249077; captureRadius = 10; duration = 106; initialDepth = 1068.168409; finalDepth = 1063.170006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2135149999999 # Actual altitude: 50 # Commanded vehicle depth:1068.168409 # Seafloor depth:-1112.967418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.362626 meters # Minimum depth: 1106.106218 meters looking forward 200.000000 meters along route # Maximum depth: 1112.405594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.106218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329722; longitude = -126.250425; captureRadius = 10; duration = 106; initialDepth = 1066.106218; finalDepth = 1068.168409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7990089999998 # Actual altitude: 50 # Commanded vehicle depth:1066.106218 # Seafloor depth:-1107.573472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.568179 meters # Minimum depth: 1106.106218 meters looking forward 200.000000 meters along route # Maximum depth: 1108.511295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.106218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329395; longitude = -126.251773; captureRadius = 10; duration = 100; initialDepth = 1066.106218; finalDepth = 1066.106218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4672540000001 # Actual altitude: 50 # Commanded vehicle depth:1066.106218 # Seafloor depth:-1106.968427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.522321 meters # Minimum depth: 1106.950313 meters looking forward 200.000000 meters along route # Maximum depth: 1108.511295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.950313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329086; longitude = -126.253047; captureRadius = 10; duration = 101; initialDepth = 1066.950313; finalDepth = 1066.106218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5016329999999 # Actual altitude: 50 # Commanded vehicle depth:1066.950313 # Seafloor depth:-1108.451946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 102.813553 meters # Minimum depth: 1107.886379 meters looking forward 200.000000 meters along route # Maximum depth: 1112.886156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.886379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328773; longitude = -126.254333; captureRadius = 10; duration = 102; initialDepth = 1067.886379; finalDepth = 1066.950313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5016329999999 # Actual altitude: 50 # Commanded vehicle depth:1067.886379 # Seafloor depth:-1108.202890 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 61.691028 meters # Minimum depth: 1107.933652 meters looking forward 200.000000 meters along route # Maximum depth: 1119.237221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.933652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328457; longitude = -126.255636; captureRadius = 10; duration = 61; initialDepth = 1067.933652; finalDepth = 1067.886379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.827914 # Actual altitude: 50 # Commanded vehicle depth:1067.933652 # Seafloor depth:-1113.761566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.094639 meters # Minimum depth: 1111.169010 meters looking forward 200.000000 meters along route # Maximum depth: 1137.068238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.169010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328178; longitude = -126.256355; captureRadius = 10; duration = 104; initialDepth = 1071.169010; finalDepth = 1067.933652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8530899999998 # Actual altitude: 50 # Commanded vehicle depth:1071.16901 # Seafloor depth:-1121.022100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.095306 meters # Minimum depth: 1123.245464 meters looking forward 200.000000 meters along route # Maximum depth: 1163.914613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.245464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327707; longitude = -126.257568; captureRadius = 10; duration = 104; initialDepth = 1083.245464; finalDepth = 1071.169010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1651609999999 # Actual altitude: 55.1651609999999 # Commanded vehicle depth:1083.245464 # Seafloor depth:-1138.410625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 132.40; MB_Bottom_Detect_Filter_Min_Depth = 27.58; MB_Bottom_Detect_Filter_Max_Depth = 132.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.095975 meters # Minimum depth: 1140.815499 meters looking forward 200.000000 meters along route # Maximum depth: 1181.868246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.815499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327236; longitude = -126.258781; captureRadius = 10; duration = 104; initialDepth = 1100.815499; finalDepth = 1083.245464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.499282 # Actual altitude: 66.499282 # Commanded vehicle depth:1100.815499 # Seafloor depth:-1167.314781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 159.60; MB_Bottom_Detect_Filter_Min_Depth = 33.25; MB_Bottom_Detect_Filter_Max_Depth = 159.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.096642 meters # Minimum depth: 1170.198134 meters looking forward 200.000000 meters along route # Maximum depth: 1185.187744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.198134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326765; longitude = -126.259994; captureRadius = 10; duration = 104; initialDepth = 1130.198134; finalDepth = 1100.815499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.499282 # Actual altitude: 66.499282 # Commanded vehicle depth:1130.198134 # Seafloor depth:-1182.414978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 159.60; MB_Bottom_Detect_Filter_Min_Depth = 33.25; MB_Bottom_Detect_Filter_Max_Depth = 159.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.097310 meters # Minimum depth: 1182.723814 meters looking forward 200.000000 meters along route # Maximum depth: 1188.940688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.723814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326294; longitude = -126.261207; captureRadius = 10; duration = 104; initialDepth = 1142.723814; finalDepth = 1130.198134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.216844 # Actual altitude: 52.216844 # Commanded vehicle depth:1142.723814 # Seafloor depth:-1186.104383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 125.32; MB_Bottom_Detect_Filter_Min_Depth = 26.11; MB_Bottom_Detect_Filter_Max_Depth = 125.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.097979 meters # Minimum depth: 1186.396092 meters looking forward 200.000000 meters along route # Maximum depth: 1191.478988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.396092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325822; longitude = -126.262420; captureRadius = 10; duration = 104; initialDepth = 1146.396092; finalDepth = 1142.723814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.3805690000002 # Actual altitude: 50 # Commanded vehicle depth:1146.396092 # Seafloor depth:-1189.025002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 107.954164 meters # Minimum depth: 1188.971344 meters looking forward 200.000000 meters along route # Maximum depth: 1203.964867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.971344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325351; longitude = -126.263633; captureRadius = 10; duration = 107; initialDepth = 1148.971344; finalDepth = 1146.396092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6289100000001 # Actual altitude: 50 # Commanded vehicle depth:1148.971344 # Seafloor depth:-1191.502472 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 75.195485 meters # Minimum depth: 1191.405383 meters looking forward 200.000000 meters along route # Maximum depth: 1207.477713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.405383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324863; longitude = -126.264890; captureRadius = 10; duration = 75; initialDepth = 1151.405383; finalDepth = 1148.971344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.723767 # Actual altitude: 52.723767 # Commanded vehicle depth:1151.405383 # Seafloor depth:-1204.129150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 126.54; MB_Bottom_Detect_Filter_Min_Depth = 26.36; MB_Bottom_Detect_Filter_Max_Depth = 126.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.900684 meters # Minimum depth: 1203.862183 meters looking forward 200.000000 meters along route # Maximum depth: 1216.441376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.862183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325447; longitude = -126.265401; captureRadius = 10; duration = 109; initialDepth = 1163.862183; finalDepth = 1151.405383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.723767 # Actual altitude: 52.723767 # Commanded vehicle depth:1163.862183 # Seafloor depth:-1207.647995 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 126.54; MB_Bottom_Detect_Filter_Min_Depth = 26.36; MB_Bottom_Detect_Filter_Max_Depth = 126.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 66.775270 meters # Minimum depth: 1206.643341 meters looking forward 200.000000 meters along route # Maximum depth: 1216.993815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.643341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326300; longitude = -126.266148; captureRadius = 10; duration = 66; initialDepth = 1166.643341; finalDepth = 1163.862183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3504740000001 # Actual altitude: 50.3504740000001 # Commanded vehicle depth:1166.643341 # Seafloor depth:-1216.993815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.84; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.054267 meters # Minimum depth: 1205.213407 meters looking forward 200.000000 meters along route # Maximum depth: 1216.993815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.213407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326618; longitude = -126.265385; captureRadius = 10; duration = 106; initialDepth = 1165.213407; finalDepth = 1166.643341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3504740000001 # Actual altitude: 50.3504740000001 # Commanded vehicle depth:1165.213407 # Seafloor depth:-1211.829032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.84; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.053563 meters # Minimum depth: 1203.275131 meters looking forward 200.000000 meters along route # Maximum depth: 1209.643433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.275131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327124; longitude = -126.264172; captureRadius = 10; duration = 106; initialDepth = 1163.275131; finalDepth = 1165.213407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6156250000001 # Actual altitude: 50 # Commanded vehicle depth:1163.275131 # Seafloor depth:-1204.348062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 107.800659 meters # Minimum depth: 1203.275131 meters looking forward 200.000000 meters along route # Maximum depth: 1206.819532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.275131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327629; longitude = -126.262959; captureRadius = 10; duration = 107; initialDepth = 1163.275131; finalDepth = 1163.275131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0729309999999 # Actual altitude: 50 # Commanded vehicle depth:1163.275131 # Seafloor depth:-1204.000048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.304353 meters # Minimum depth: 1204.837635 meters looking forward 200.000000 meters along route # Maximum depth: 1209.427721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.837635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328142; longitude = -126.261726; captureRadius = 10; duration = 104; initialDepth = 1164.837635; finalDepth = 1163.275131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0241609999998 # Actual altitude: 50 # Commanded vehicle depth:1164.837635 # Seafloor depth:-1206.861796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.051449 meters # Minimum depth: 1207.414246 meters looking forward 200.000000 meters along route # Maximum depth: 1211.929715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.414246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328639; longitude = -126.260533; captureRadius = 10; duration = 106; initialDepth = 1167.414246; finalDepth = 1164.837635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.4362819999999 # Actual altitude: 50 # Commanded vehicle depth:1167.414246 # Seafloor depth:-1209.850528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.050745 meters # Minimum depth: 1208.994050 meters looking forward 200.000000 meters along route # Maximum depth: 1212.066573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.994050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329144; longitude = -126.259320; captureRadius = 10; duration = 106; initialDepth = 1168.994050; finalDepth = 1167.414246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9495979999999 # Actual altitude: 50 # Commanded vehicle depth:1168.99405 # Seafloor depth:-1211.943648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.033527 meters # Minimum depth: 1195.665689 meters looking forward 200.000000 meters along route # Maximum depth: 1212.066573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.665689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329649; longitude = -126.258107; captureRadius = 10; duration = 104; initialDepth = 1155.665689; finalDepth = 1168.994050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9255900000001 # Actual altitude: 52.9255900000001 # Commanded vehicle depth:1155.665689 # Seafloor depth:-1208.591279 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 127.02; MB_Bottom_Detect_Filter_Min_Depth = 26.46; MB_Bottom_Detect_Filter_Max_Depth = 127.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 6.172027 meters # Minimum depth: 1193.615825 meters looking forward 200.000000 meters along route # Maximum depth: 1212.021078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.615825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330145; longitude = -126.256917; captureRadius = 10; duration = 6; initialDepth = 1153.615825; finalDepth = 1155.665689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9255900000001 # Actual altitude: 52.9255900000001 # Commanded vehicle depth:1153.615825 # Seafloor depth:-1193.953888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 127.02; MB_Bottom_Detect_Filter_Min_Depth = 26.46; MB_Bottom_Detect_Filter_Max_Depth = 127.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.907403 meters # Minimum depth: 1171.234204 meters looking forward 200.000000 meters along route # Maximum depth: 1206.271496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.234204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330164; longitude = -126.256839; captureRadius = 10; duration = 101; initialDepth = 1131.234204; finalDepth = 1153.615825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3759069999999 # Actual altitude: 61.3759069999999 # Commanded vehicle depth:1131.234204 # Seafloor depth:-1192.610111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 147.30; MB_Bottom_Detect_Filter_Min_Depth = 30.69; MB_Bottom_Detect_Filter_Max_Depth = 147.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.260404 meters # Minimum depth: 1155.230191 meters looking forward 200.000000 meters along route # Maximum depth: 1188.004002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.230191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330475; longitude = -126.255546; captureRadius = 10; duration = 106; initialDepth = 1115.230191; finalDepth = 1131.234204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3759069999999 # Actual altitude: 61.3759069999999 # Commanded vehicle depth:1115.230191 # Seafloor depth:-1169.167881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 147.30; MB_Bottom_Detect_Filter_Min_Depth = 30.69; MB_Bottom_Detect_Filter_Max_Depth = 147.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.653226 meters # Minimum depth: 1148.329100 meters looking forward 200.000000 meters along route # Maximum depth: 1167.502467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.329100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330800; longitude = -126.254198; captureRadius = 10; duration = 100; initialDepth = 1108.329100; finalDepth = 1115.230191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.93769 # Actual altitude: 53.93769 # Commanded vehicle depth:1108.3291 # Seafloor depth:-1154.404169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 129.45; MB_Bottom_Detect_Filter_Min_Depth = 26.97; MB_Bottom_Detect_Filter_Max_Depth = 129.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.240044 meters # Minimum depth: 1143.466230 meters looking forward 200.000000 meters along route # Maximum depth: 1153.697854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.466230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331107; longitude = -126.252922; captureRadius = 10; duration = 101; initialDepth = 1103.466230; finalDepth = 1108.329100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.075069 # Actual altitude: 50 # Commanded vehicle depth:1103.46623 # Seafloor depth:-1148.018399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.258827 meters # Minimum depth: 1139.133745 meters looking forward 200.000000 meters along route # Maximum depth: 1147.069165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.133745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331417; longitude = -126.251638; captureRadius = 10; duration = 106; initialDepth = 1099.133745; finalDepth = 1103.466230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.552169 # Actual altitude: 50 # Commanded vehicle depth:1099.133745 # Seafloor depth:-1142.959933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.317571 meters # Minimum depth: 1135.581858 meters looking forward 200.000000 meters along route # Maximum depth: 1142.546771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.581858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331741; longitude = -126.250290; captureRadius = 10; duration = 101; initialDepth = 1095.581858; finalDepth = 1099.133745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.826188 # Actual altitude: 50 # Commanded vehicle depth:1095.581858 # Seafloor depth:-1138.727960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.572705 meters # Minimum depth: 1129.030390 meters looking forward 200.000000 meters along route # Maximum depth: 1138.520726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.030390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332051; longitude = -126.249005; captureRadius = 10; duration = 100; initialDepth = 1089.030390; finalDepth = 1095.581858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1649480000001 # Actual altitude: 50 # Commanded vehicle depth:1089.03039 # Seafloor depth:-1135.195338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.257252 meters # Minimum depth: 1109.242393 meters looking forward 200.000000 meters along route # Maximum depth: 1134.304591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.242393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332358; longitude = -126.247729; captureRadius = 10; duration = 106; initialDepth = 1069.242393; finalDepth = 1089.030390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.889649 # Actual altitude: 58.889649 # Commanded vehicle depth:1069.242393 # Seafloor depth:-1128.132042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 141.34; MB_Bottom_Detect_Filter_Min_Depth = 29.44; MB_Bottom_Detect_Filter_Max_Depth = 141.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.256709 meters # Minimum depth: 1085.087413 meters looking forward 200.000000 meters along route # Maximum depth: 1125.956550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.087413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332683; longitude = -126.246382; captureRadius = 10; duration = 106; initialDepth = 1045.087413; finalDepth = 1069.242393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9898430000001 # Actual altitude: 61.9898430000001 # Commanded vehicle depth:1045.087413 # Seafloor depth:-1107.077256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 148.78; MB_Bottom_Detect_Filter_Min_Depth = 30.99; MB_Bottom_Detect_Filter_Max_Depth = 148.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.256165 meters # Minimum depth: 1063.813359 meters looking forward 200.000000 meters along route # Maximum depth: 1103.208384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.813359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333007; longitude = -126.245034; captureRadius = 10; duration = 106; initialDepth = 1023.813359; finalDepth = 1045.087413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9898430000001 # Actual altitude: 61.9898430000001 # Commanded vehicle depth:1023.813359 # Seafloor depth:-1084.313328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 148.78; MB_Bottom_Detect_Filter_Min_Depth = 30.99; MB_Bottom_Detect_Filter_Max_Depth = 148.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.046105 meters # Minimum depth: 1054.989879 meters looking forward 200.000000 meters along route # Maximum depth: 1079.346823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.989879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333332; longitude = -126.243686; captureRadius = 10; duration = 110; initialDepth = 1014.989879; finalDepth = 1023.813359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.499969 # Actual altitude: 60.499969 # Commanded vehicle depth:1014.989879 # Seafloor depth:-1061.915971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 145.20; MB_Bottom_Detect_Filter_Min_Depth = 30.25; MB_Bottom_Detect_Filter_Max_Depth = 145.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.464595 meters # Minimum depth: 1053.747660 meters looking forward 200.000000 meters along route # Maximum depth: 1058.180905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.747660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333668; longitude = -126.242291; captureRadius = 10; duration = 102; initialDepth = 1013.747660; finalDepth = 1014.989879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9260919999999 # Actual altitude: 50 # Commanded vehicle depth:1013.74766 # Seafloor depth:-1055.235694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.254535 meters # Minimum depth: 1053.747660 meters looking forward 200.000000 meters along route # Maximum depth: 1059.609367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.747660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333981; longitude = -126.240991; captureRadius = 10; duration = 106; initialDepth = 1013.747660; finalDepth = 1013.747660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.213283 # Actual altitude: 50 # Commanded vehicle depth:1013.74766 # Seafloor depth:-1058.960943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.253992 meters # Minimum depth: 1045.342819 meters looking forward 200.000000 meters along route # Maximum depth: 1059.609367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.342819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334306; longitude = -126.239643; captureRadius = 10; duration = 106; initialDepth = 1005.342819; finalDepth = 1013.747660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0551379999999 # Actual altitude: 50 # Commanded vehicle depth:1005.342819 # Seafloor depth:-1054.397957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.253449 meters # Minimum depth: 1035.463987 meters looking forward 200.000000 meters along route # Maximum depth: 1052.526636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.463987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334630; longitude = -126.238295; captureRadius = 10; duration = 106; initialDepth = 995.463987; finalDepth = 1005.342819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2119329999998 # Actual altitude: 50 # Commanded vehicle depth:995.463987 # Seafloor depth:-1044.675920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.148880 meters # Minimum depth: 1026.682902 meters looking forward 200.000000 meters along route # Maximum depth: 1042.204375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.682902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334955; longitude = -126.236948; captureRadius = 10; duration = 108; initialDepth = 986.682902; finalDepth = 995.463987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2119329999998 # Actual altitude: 50 # Commanded vehicle depth:986.682902 # Seafloor depth:-1034.613316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.356388 meters # Minimum depth: 1019.768032 meters looking forward 200.000000 meters along route # Maximum depth: 1033.265207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.768032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335285; longitude = -126.235576; captureRadius = 10; duration = 104; initialDepth = 979.768032; finalDepth = 986.682902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9304139999999 # Actual altitude: 50 # Commanded vehicle depth:979.768032 # Seafloor depth:-1026.527455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.087690 meters # Minimum depth: 1013.566287 meters looking forward 200.000000 meters along route # Maximum depth: 1025.712430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.566287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335604; longitude = -126.234252; captureRadius = 10; duration = 104; initialDepth = 973.566287; finalDepth = 979.768032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.759423 # Actual altitude: 50 # Commanded vehicle depth:973.566287 # Seafloor depth:-1019.081514 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 92.023349 meters # Minimum depth: 1007.011146 meters looking forward 200.000000 meters along route # Maximum depth: 1019.081514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.011146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335922; longitude = -126.232932; captureRadius = 10; duration = 92; initialDepth = 967.011146; finalDepth = 973.566287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.266137 # Actual altitude: 50 # Commanded vehicle depth:967.011146 # Seafloor depth:-1013.277283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983918 meters # Minimum depth: 1001.332280 meters looking forward 200.000000 meters along route # Maximum depth: 1012.986698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.332280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335949; longitude = -126.231692; captureRadius = 10; duration = 109; initialDepth = 961.332280; finalDepth = 967.011146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.266137 # Actual altitude: 50 # Commanded vehicle depth:961.33228 # Seafloor depth:-1006.398107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983909 meters # Minimum depth: 996.589836 meters looking forward 200.000000 meters along route # Maximum depth: 1004.985559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.589836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335982; longitude = -126.230209; captureRadius = 10; duration = 109; initialDepth = 956.589836; finalDepth = 961.332280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.065827 # Actual altitude: 50 # Commanded vehicle depth:956.589836 # Seafloor depth:-1001.250949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983900 meters # Minimum depth: 991.450231 meters looking forward 200.000000 meters along route # Maximum depth: 1000.863387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.450231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336015; longitude = -126.228727; captureRadius = 10; duration = 109; initialDepth = 951.450231; finalDepth = 956.589836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.661113 # Actual altitude: 50 # Commanded vehicle depth:951.450231 # Seafloor depth:-995.709198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983890 meters # Minimum depth: 988.842569 meters looking forward 200.000000 meters along route # Maximum depth: 995.015308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.842569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336047; longitude = -126.227244; captureRadius = 10; duration = 109; initialDepth = 948.842569; finalDepth = 951.450231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.258967 # Actual altitude: 50 # Commanded vehicle depth:948.842569 # Seafloor depth:-990.604999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983881 meters # Minimum depth: 984.495592 meters looking forward 200.000000 meters along route # Maximum depth: 990.327745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.495592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336080; longitude = -126.225762; captureRadius = 10; duration = 109; initialDepth = 944.495592; finalDepth = 948.842569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.611274 # Actual altitude: 50 # Commanded vehicle depth:944.495592 # Seafloor depth:-988.106866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983873 meters # Minimum depth: 980.839227 meters looking forward 200.000000 meters along route # Maximum depth: 987.390133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.839227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336112; longitude = -126.224279; captureRadius = 10; duration = 109; initialDepth = 940.839227; finalDepth = 944.495592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.9270809999999 # Actual altitude: 50 # Commanded vehicle depth:940.839227 # Seafloor depth:-984.766308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983863 meters # Minimum depth: 979.303311 meters looking forward 200.000000 meters along route # Maximum depth: 985.059655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.303311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336145; longitude = -126.222797; captureRadius = 10; duration = 109; initialDepth = 939.303311; finalDepth = 940.839227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.9270809999999 # Actual altitude: 50 # Commanded vehicle depth:939.303311 # Seafloor depth:-981.917504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983854 meters # Minimum depth: 975.265121 meters looking forward 200.000000 meters along route # Maximum depth: 981.028752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.265121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336178; longitude = -126.221314; captureRadius = 10; duration = 109; initialDepth = 935.265121; finalDepth = 939.303311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.483486 # Actual altitude: 50 # Commanded vehicle depth:935.265121 # Seafloor depth:-978.748607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983845 meters # Minimum depth: 971.580661 meters looking forward 200.000000 meters along route # Maximum depth: 979.905242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.580661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336210; longitude = -126.219832; captureRadius = 10; duration = 109; initialDepth = 931.580661; finalDepth = 935.265121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.483486 # Actual altitude: 50 # Commanded vehicle depth:931.580661 # Seafloor depth:-974.868144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983836 meters # Minimum depth: 967.760571 meters looking forward 200.000000 meters along route # Maximum depth: 973.311167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.760571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336243; longitude = -126.218349; captureRadius = 10; duration = 109; initialDepth = 927.760571; finalDepth = 931.580661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.345596 # Actual altitude: 50 # Commanded vehicle depth:927.760571 # Seafloor depth:-971.106167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983828 meters # Minimum depth: 964.688856 meters looking forward 200.000000 meters along route # Maximum depth: 969.415969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.688856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336276; longitude = -126.216867; captureRadius = 10; duration = 109; initialDepth = 924.688856; finalDepth = 927.760571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.345596 # Actual altitude: 50 # Commanded vehicle depth:924.688856 # Seafloor depth:-967.868335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983818 meters # Minimum depth: 959.152519 meters looking forward 200.000000 meters along route # Maximum depth: 967.015010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.152519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336308; longitude = -126.215384; captureRadius = 10; duration = 109; initialDepth = 919.152519; finalDepth = 924.688856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.436072 # Actual altitude: 50 # Commanded vehicle depth:919.152519 # Seafloor depth:-964.588591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983809 meters # Minimum depth: 959.152519 meters looking forward 200.000000 meters along route # Maximum depth: 964.302343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.152519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336341; longitude = -126.213902; captureRadius = 10; duration = 109; initialDepth = 919.152519; finalDepth = 919.152519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.436072 # Actual altitude: 50 # Commanded vehicle depth:919.152519 # Seafloor depth:-963.624737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983801 meters # Minimum depth: 954.245084 meters looking forward 200.000000 meters along route # Maximum depth: 963.493989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.245084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336373; longitude = -126.212419; captureRadius = 10; duration = 109; initialDepth = 914.245084; finalDepth = 919.152519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.728239 # Actual altitude: 50 # Commanded vehicle depth:914.245084 # Seafloor depth:-959.973323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983792 meters # Minimum depth: 949.857406 meters looking forward 200.000000 meters along route # Maximum depth: 957.962892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.857406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336406; longitude = -126.210937; captureRadius = 10; duration = 109; initialDepth = 909.857406; finalDepth = 914.245084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.728239 # Actual altitude: 50 # Commanded vehicle depth:909.857406 # Seafloor depth:-954.208074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983783 meters # Minimum depth: 942.435997 meters looking forward 200.000000 meters along route # Maximum depth: 953.505488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.435997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336439; longitude = -126.209454; captureRadius = 10; duration = 109; initialDepth = 902.435997; finalDepth = 909.857406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4138369999999 # Actual altitude: 50 # Commanded vehicle depth:902.435997 # Seafloor depth:-948.849834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983774 meters # Minimum depth: 933.301586 meters looking forward 200.000000 meters along route # Maximum depth: 948.170851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.301586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336471; longitude = -126.207972; captureRadius = 10; duration = 109; initialDepth = 893.301586; finalDepth = 902.435997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7195949999999 # Actual altitude: 50 # Commanded vehicle depth:893.301586 # Seafloor depth:-942.021181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983766 meters # Minimum depth: 918.273516 meters looking forward 200.000000 meters along route # Maximum depth: 941.342278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.273516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336504; longitude = -126.206489; captureRadius = 10; duration = 109; initialDepth = 878.273516; finalDepth = 893.301586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1447830000001 # Actual altitude: 54.1447830000001 # Commanded vehicle depth:878.273516 # Seafloor depth:-932.418299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 129.95; MB_Bottom_Detect_Filter_Min_Depth = 27.07; MB_Bottom_Detect_Filter_Max_Depth = 129.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983756 meters # Minimum depth: 904.597377 meters looking forward 200.000000 meters along route # Maximum depth: 929.896676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.597377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336537; longitude = -126.205007; captureRadius = 10; duration = 109; initialDepth = 864.597377; finalDepth = 878.273516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1447830000001 # Actual altitude: 54.1447830000001 # Commanded vehicle depth:864.597377 # Seafloor depth:-916.620761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 129.95; MB_Bottom_Detect_Filter_Min_Depth = 27.07; MB_Bottom_Detect_Filter_Max_Depth = 129.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983749 meters # Minimum depth: 891.842613 meters looking forward 200.000000 meters along route # Maximum depth: 913.647083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.842613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336569; longitude = -126.203524; captureRadius = 10; duration = 109; initialDepth = 851.842613; finalDepth = 864.597377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.023384 # Actual altitude: 52.023384 # Commanded vehicle depth:851.842613 # Seafloor depth:-903.634561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 124.86; MB_Bottom_Detect_Filter_Min_Depth = 26.01; MB_Bottom_Detect_Filter_Max_Depth = 124.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.652116 meters # Minimum depth: 879.315745 meters looking forward 200.000000 meters along route # Maximum depth: 901.340762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.315745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336602; longitude = -126.202042; captureRadius = 10; duration = 104; initialDepth = 839.315745; finalDepth = 851.842613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7919479999999 # Actual altitude: 51.7919479999999 # Commanded vehicle depth:839.315745 # Seafloor depth:-890.495168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 124.30; MB_Bottom_Detect_Filter_Min_Depth = 25.90; MB_Bottom_Detect_Filter_Max_Depth = 124.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.316834 meters # Minimum depth: 870.535570 meters looking forward 200.000000 meters along route # Maximum depth: 889.244481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.535570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336633; longitude = -126.200631; captureRadius = 10; duration = 105; initialDepth = 830.535570; finalDepth = 839.315745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179423 # Actual altitude: 51.179423 # Commanded vehicle depth:830.53557 # Seafloor depth:-878.992446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 122.83; MB_Bottom_Detect_Filter_Min_Depth = 25.59; MB_Bottom_Detect_Filter_Max_Depth = 122.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983723 meters # Minimum depth: 855.854312 meters looking forward 200.000000 meters along route # Maximum depth: 877.951601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.854312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336664; longitude = -126.199212; captureRadius = 10; duration = 109; initialDepth = 815.854312; finalDepth = 830.535570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.432292 # Actual altitude: 53.432292 # Commanded vehicle depth:815.854312 # Seafloor depth:-869.286604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 128.24; MB_Bottom_Detect_Filter_Min_Depth = 26.72; MB_Bottom_Detect_Filter_Max_Depth = 128.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983715 meters # Minimum depth: 845.376113 meters looking forward 200.000000 meters along route # Maximum depth: 865.990481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.376113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336697; longitude = -126.197729; captureRadius = 10; duration = 109; initialDepth = 805.376113; finalDepth = 815.854312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.432292 # Actual altitude: 53.432292 # Commanded vehicle depth:805.376113 # Seafloor depth:-854.698009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 128.24; MB_Bottom_Detect_Filter_Min_Depth = 26.72; MB_Bottom_Detect_Filter_Max_Depth = 128.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983706 meters # Minimum depth: 836.239584 meters looking forward 200.000000 meters along route # Maximum depth: 852.384939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.239584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336729; longitude = -126.196247; captureRadius = 10; duration = 109; initialDepth = 796.239584; finalDepth = 805.376113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3218959999999 # Actual altitude: 50 # Commanded vehicle depth:796.239584 # Seafloor depth:-844.599531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983698 meters # Minimum depth: 830.706130 meters looking forward 200.000000 meters along route # Maximum depth: 842.807556 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.706130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336762; longitude = -126.194764; captureRadius = 10; duration = 109; initialDepth = 790.706130; finalDepth = 796.239584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3599469999999 # Actual altitude: 50 # Commanded vehicle depth:790.70613 # Seafloor depth:-835.703984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983689 meters # Minimum depth: 826.675026 meters looking forward 200.000000 meters along route # Maximum depth: 834.845920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.675026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336795; longitude = -126.193282; captureRadius = 10; duration = 109; initialDepth = 786.675026; finalDepth = 790.706130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.997854 # Actual altitude: 50 # Commanded vehicle depth:786.675026 # Seafloor depth:-830.094145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983681 meters # Minimum depth: 820.679641 meters looking forward 200.000000 meters along route # Maximum depth: 828.996248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.679641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336827; longitude = -126.191799; captureRadius = 10; duration = 109; initialDepth = 780.679641; finalDepth = 786.675026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6333330000001 # Actual altitude: 50 # Commanded vehicle depth:780.679641 # Seafloor depth:-826.312974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983673 meters # Minimum depth: 812.947034 meters looking forward 200.000000 meters along route # Maximum depth: 825.215671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.947034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336860; longitude = -126.190317; captureRadius = 10; duration = 109; initialDepth = 772.947034; finalDepth = 780.679641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.068721 # Actual altitude: 50 # Commanded vehicle depth:772.947034 # Seafloor depth:-820.015755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983664 meters # Minimum depth: 804.547447 meters looking forward 200.000000 meters along route # Maximum depth: 818.204500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.547447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336893; longitude = -126.188834; captureRadius = 10; duration = 109; initialDepth = 764.547447; finalDepth = 772.947034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0528889999999 # Actual altitude: 50 # Commanded vehicle depth:764.547447 # Seafloor depth:-812.600336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983656 meters # Minimum depth: 798.733660 meters looking forward 200.000000 meters along route # Maximum depth: 811.537489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.733660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336925; longitude = -126.187352; captureRadius = 10; duration = 109; initialDepth = 758.733660; finalDepth = 764.547447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0528889999999 # Actual altitude: 50 # Commanded vehicle depth:758.73366 # Seafloor depth:-803.995615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.983648 meters # Minimum depth: 792.045623 meters looking forward 200.000000 meters along route # Maximum depth: 803.441787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.045623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336958; longitude = -126.185869; captureRadius = 10; duration = 109; initialDepth = 752.045623; finalDepth = 758.733660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.949326 # Actual altitude: 50 # Commanded vehicle depth:752.045623 # Seafloor depth:-797.994949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.437393 meters # Minimum depth: 786.081834 meters looking forward 200.000000 meters along route # Maximum depth: 797.393349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.081834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336990; longitude = -126.184387; captureRadius = 10; duration = 106; initialDepth = 746.081834; finalDepth = 752.045623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.949326 # Actual altitude: 50 # Commanded vehicle depth:746.081834 # Seafloor depth:-791.388483 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 86.366623 meters # Minimum depth: 780.137703 meters looking forward 200.000000 meters along route # Maximum depth: 791.388483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.137703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337022; longitude = -126.182952; captureRadius = 10; duration = 86; initialDepth = 740.137703; finalDepth = 746.081834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.306649 # Actual altitude: 50 # Commanded vehicle depth:740.137703 # Seafloor depth:-785.394440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.374811 meters # Minimum depth: 774.284448 meters looking forward 200.000000 meters along route # Maximum depth: 786.081834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.284448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337221; longitude = -126.181826; captureRadius = 10; duration = 103; initialDepth = 734.284448; finalDepth = 740.137703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.256737 # Actual altitude: 50 # Commanded vehicle depth:734.284448 # Seafloor depth:-779.194632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.374414 meters # Minimum depth: 765.775756 meters looking forward 200.000000 meters along route # Maximum depth: 779.231001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.775756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337459; longitude = -126.180478; captureRadius = 10; duration = 103; initialDepth = 725.775756; finalDepth = 734.284448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.017716 # Actual altitude: 50 # Commanded vehicle depth:725.775756 # Seafloor depth:-773.793472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.374018 meters # Minimum depth: 756.393674 meters looking forward 200.000000 meters along route # Maximum depth: 773.311660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.393674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337697; longitude = -126.179131; captureRadius = 10; duration = 103; initialDepth = 716.393674; finalDepth = 725.775756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6003529999999 # Actual altitude: 50 # Commanded vehicle depth:716.393674 # Seafloor depth:-764.994027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.373620 meters # Minimum depth: 749.255389 meters looking forward 200.000000 meters along route # Maximum depth: 763.514726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.255389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337935; longitude = -126.177783; captureRadius = 10; duration = 103; initialDepth = 709.255389; finalDepth = 716.393674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6003529999999 # Actual altitude: 50 # Commanded vehicle depth:709.255389 # Seafloor depth:-755.460761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.373224 meters # Minimum depth: 742.884015 meters looking forward 200.000000 meters along route # Maximum depth: 755.713755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.884015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338173; longitude = -126.176435; captureRadius = 10; duration = 103; initialDepth = 702.884015; finalDepth = 709.255389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.205372 # Actual altitude: 50 # Commanded vehicle depth:702.884015 # Seafloor depth:-748.463148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.953826 meters # Minimum depth: 734.793993 meters looking forward 200.000000 meters along route # Maximum depth: 747.779991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.793993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338411; longitude = -126.175087; captureRadius = 10; duration = 105; initialDepth = 694.793993; finalDepth = 702.884015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.351552 # Actual altitude: 50 # Commanded vehicle depth:694.793993 # Seafloor depth:-742.145545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.791432 meters # Minimum depth: 729.130411 meters looking forward 200.000000 meters along route # Maximum depth: 741.338019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.130411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338654; longitude = -126.173706; captureRadius = 10; duration = 100; initialDepth = 689.130411; finalDepth = 694.793993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.351552 # Actual altitude: 50 # Commanded vehicle depth:689.130411 # Seafloor depth:-734.638581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.372033 meters # Minimum depth: 724.496548 meters looking forward 200.000000 meters along route # Maximum depth: 734.152875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.496548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338886; longitude = -126.172392; captureRadius = 10; duration = 103; initialDepth = 684.496548; finalDepth = 689.130411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5081700000001 # Actual altitude: 50 # Commanded vehicle depth:684.496548 # Seafloor depth:-728.718707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.371638 meters # Minimum depth: 715.601857 meters looking forward 200.000000 meters along route # Maximum depth: 728.347763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.601857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339124; longitude = -126.171044; captureRadius = 10; duration = 103; initialDepth = 675.601857; finalDepth = 684.496548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.069616 # Actual altitude: 50 # Commanded vehicle depth:675.601857 # Seafloor depth:-723.671473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.371240 meters # Minimum depth: 706.419039 meters looking forward 200.000000 meters along route # Maximum depth: 722.926019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.419039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339362; longitude = -126.169697; captureRadius = 10; duration = 103; initialDepth = 666.419039; finalDepth = 675.601857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.281799 # Actual altitude: 50 # Commanded vehicle depth:666.419039 # Seafloor depth:-714.700838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.370844 meters # Minimum depth: 699.767020 meters looking forward 200.000000 meters along route # Maximum depth: 713.742095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.767020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339600; longitude = -126.168349; captureRadius = 10; duration = 103; initialDepth = 659.767020; finalDepth = 666.419039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.281799 # Actual altitude: 50 # Commanded vehicle depth:659.76702 # Seafloor depth:-706.332854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.370448 meters # Minimum depth: 693.311151 meters looking forward 200.000000 meters along route # Maximum depth: 705.574372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.311151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339838; longitude = -126.167001; captureRadius = 10; duration = 103; initialDepth = 653.311151; finalDepth = 659.767020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.565834 # Actual altitude: 50 # Commanded vehicle depth:653.311151 # Seafloor depth:-698.973442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.370051 meters # Minimum depth: 686.495233 meters looking forward 200.000000 meters along route # Maximum depth: 698.207804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.495233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340076; longitude = -126.165653; captureRadius = 10; duration = 103; initialDepth = 646.495233; finalDepth = 653.311151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.039529 # Actual altitude: 50 # Commanded vehicle depth:646.495233 # Seafloor depth:-692.534762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.369654 meters # Minimum depth: 681.277375 meters looking forward 200.000000 meters along route # Maximum depth: 691.632963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.277375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340314; longitude = -126.164306; captureRadius = 10; duration = 103; initialDepth = 641.277375; finalDepth = 646.495233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.039529 # Actual altitude: 50 # Commanded vehicle depth:641.277375 # Seafloor depth:-685.875008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.369258 meters # Minimum depth: 676.317128 meters looking forward 200.000000 meters along route # Maximum depth: 685.204925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.317128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340552; longitude = -126.162958; captureRadius = 10; duration = 103; initialDepth = 636.317128; finalDepth = 641.277375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.789903 # Actual altitude: 50 # Commanded vehicle depth:636.317128 # Seafloor depth:-681.107031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.368862 meters # Minimum depth: 671.690649 meters looking forward 200.000000 meters along route # Maximum depth: 680.875003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.690649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340790; longitude = -126.161610; captureRadius = 10; duration = 103; initialDepth = 631.690649; finalDepth = 636.317128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.789903 # Actual altitude: 50 # Commanded vehicle depth:631.690649 # Seafloor depth:-675.868357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.368465 meters # Minimum depth: 664.588009 meters looking forward 200.000000 meters along route # Maximum depth: 675.493677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.588009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341028; longitude = -126.160263; captureRadius = 10; duration = 103; initialDepth = 624.588009; finalDepth = 631.690649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4958399999999 # Actual altitude: 50 # Commanded vehicle depth:624.588009 # Seafloor depth:-671.083849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.368068 meters # Minimum depth: 657.843046 meters looking forward 200.000000 meters along route # Maximum depth: 670.672599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.843046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341266; longitude = -126.158915; captureRadius = 10; duration = 103; initialDepth = 617.843046; finalDepth = 624.588009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4958399999999 # Actual altitude: 50 # Commanded vehicle depth:617.843046 # Seafloor depth:-663.816112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.367673 meters # Minimum depth: 652.601620 meters looking forward 200.000000 meters along route # Maximum depth: 663.268158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.601620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341504; longitude = -126.157567; captureRadius = 10; duration = 103; initialDepth = 612.601620; finalDepth = 617.843046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.973066 # Actual altitude: 50 # Commanded vehicle depth:612.60162 # Seafloor depth:-657.329444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.367275 meters # Minimum depth: 642.845456 meters looking forward 200.000000 meters along route # Maximum depth: 656.526821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.845456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341742; longitude = -126.156219; captureRadius = 10; duration = 103; initialDepth = 602.845456; finalDepth = 612.601620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.257395 # Actual altitude: 50 # Commanded vehicle depth:602.845456 # Seafloor depth:-651.102851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.366880 meters # Minimum depth: 634.050788 meters looking forward 200.000000 meters along route # Maximum depth: 649.673940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.050788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341980; longitude = -126.154872; captureRadius = 10; duration = 103; initialDepth = 594.050788; finalDepth = 602.845456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.257395 # Actual altitude: 50 # Commanded vehicle depth:594.050788 # Seafloor depth:-641.900765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.366483 meters # Minimum depth: 626.630864 meters looking forward 200.000000 meters along route # Maximum depth: 641.039588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.630864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342218; longitude = -126.153524; captureRadius = 10; duration = 103; initialDepth = 586.630864; finalDepth = 594.050788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.849977 # Actual altitude: 50 # Commanded vehicle depth:586.630864 # Seafloor depth:-633.268661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.540429 meters # Minimum depth: 615.076657 meters looking forward 200.000000 meters along route # Maximum depth: 631.830004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.076657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342456; longitude = -126.152176; captureRadius = 10; duration = 109; initialDepth = 575.076657; finalDepth = 586.630864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1011900000001 # Actual altitude: 50.1011900000001 # Commanded vehicle depth:575.076657 # Seafloor depth:-625.177847 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.24; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 38.428431 meters # Minimum depth: 611.832467 meters looking forward 200.000000 meters along route # Maximum depth: 629.734010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.832467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342708; longitude = -126.150748; captureRadius = 10; duration = 38; initialDepth = 571.832467; finalDepth = 575.076657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1011900000001 # Actual altitude: 50.1011900000001 # Commanded vehicle depth:571.832467 # Seafloor depth:-614.296646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 120.24; MB_Bottom_Detect_Filter_Min_Depth = 25.05; MB_Bottom_Detect_Filter_Max_Depth = 120.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.642039 meters # Minimum depth: 602.497230 meters looking forward 200.000000 meters along route # Maximum depth: 619.747609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.497230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342869; longitude = -126.150289; captureRadius = 10; duration = 101; initialDepth = 562.497230; finalDepth = 571.832467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.656239 # Actual altitude: 50 # Commanded vehicle depth:562.49723 # Seafloor depth:-611.153469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.641424 meters # Minimum depth: 593.769374 meters looking forward 200.000000 meters along route # Maximum depth: 610.138528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.769374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343295; longitude = -126.149076; captureRadius = 10; duration = 101; initialDepth = 553.769374; finalDepth = 562.497230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.656239 # Actual altitude: 50 # Commanded vehicle depth:553.769374 # Seafloor depth:-601.489937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.640810 meters # Minimum depth: 585.841381 meters looking forward 200.000000 meters along route # Maximum depth: 600.483974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.841381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343721; longitude = -126.147864; captureRadius = 10; duration = 101; initialDepth = 545.841381; finalDepth = 553.769374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7205630000001 # Actual altitude: 50 # Commanded vehicle depth:545.841381 # Seafloor depth:-592.906009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.640194 meters # Minimum depth: 578.684553 meters looking forward 200.000000 meters along route # Maximum depth: 591.970640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.684553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344147; longitude = -126.146651; captureRadius = 10; duration = 101; initialDepth = 538.684553; finalDepth = 545.841381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0646280000001 # Actual altitude: 50 # Commanded vehicle depth:538.684553 # Seafloor depth:-584.671206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.639580 meters # Minimum depth: 572.293763 meters looking forward 200.000000 meters along route # Maximum depth: 583.741116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.293763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344573; longitude = -126.145438; captureRadius = 10; duration = 101; initialDepth = 532.293763; finalDepth = 538.684553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.313228 # Actual altitude: 50 # Commanded vehicle depth:532.293763 # Seafloor depth:-578.606991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.638966 meters # Minimum depth: 565.766161 meters looking forward 200.000000 meters along route # Maximum depth: 578.063995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.766161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344999; longitude = -126.144225; captureRadius = 10; duration = 101; initialDepth = 525.766161; finalDepth = 532.293763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.465512 # Actual altitude: 50 # Commanded vehicle depth:525.766161 # Seafloor depth:-572.231673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.638350 meters # Minimum depth: 558.481453 meters looking forward 200.000000 meters along route # Maximum depth: 570.935327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.481453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345425; longitude = -126.143012; captureRadius = 10; duration = 101; initialDepth = 518.481453; finalDepth = 525.766161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.572682 # Actual altitude: 50 # Commanded vehicle depth:518.481453 # Seafloor depth:-565.054135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.637736 meters # Minimum depth: 551.829347 meters looking forward 200.000000 meters along route # Maximum depth: 564.563749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.829347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345851; longitude = -126.141799; captureRadius = 10; duration = 101; initialDepth = 511.829347; finalDepth = 518.481453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0467150000001 # Actual altitude: 50 # Commanded vehicle depth:511.829347 # Seafloor depth:-558.876062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.637121 meters # Minimum depth: 543.780798 meters looking forward 200.000000 meters along route # Maximum depth: 556.783645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.780798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346277; longitude = -126.140586; captureRadius = 10; duration = 101; initialDepth = 503.780798; finalDepth = 511.829347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.233545 # Actual altitude: 50 # Commanded vehicle depth:503.780798 # Seafloor depth:-551.014343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 103.894786 meters # Minimum depth: 536.422005 meters looking forward 200.000000 meters along route # Maximum depth: 550.275208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.422005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346703; longitude = -126.139373; captureRadius = 10; duration = 103; initialDepth = 496.422005; finalDepth = 503.780798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.233545 # Actual altitude: 50 # Commanded vehicle depth:496.422005 # Seafloor depth:-542.950579 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 1.146908 meters # Minimum depth: 536.422005 meters looking forward 200.000000 meters along route # Maximum depth: 550.275208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.422005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347138; longitude = -126.138133; captureRadius = 10; duration = 1; initialDepth = 496.422005; finalDepth = 496.422005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5285739999999 # Actual altitude: 50 # Commanded vehicle depth:496.422005 # Seafloor depth:-536.548935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.767970 meters # Minimum depth: 529.207571 meters looking forward 200.000000 meters along route # Maximum depth: 541.227339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.207571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347145; longitude = -126.138122; captureRadius = 10; duration = 108; initialDepth = 489.207571; finalDepth = 496.422005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9805 # Actual altitude: 50 # Commanded vehicle depth:489.207571 # Seafloor depth:-536.188071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.767265 meters # Minimum depth: 521.574999 meters looking forward 200.000000 meters along route # Maximum depth: 534.711236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.574999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347819; longitude = -126.137058; captureRadius = 10; duration = 108; initialDepth = 481.574999; finalDepth = 489.207571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4795829999999 # Actual altitude: 50 # Commanded vehicle depth:481.574999 # Seafloor depth:-529.054582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.416810 meters # Minimum depth: 514.108046 meters looking forward 200.000000 meters along route # Maximum depth: 527.542943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.108046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.348493; longitude = -126.135995; captureRadius = 10; duration = 109; initialDepth = 474.108046; finalDepth = 481.574999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4795829999999 # Actual altitude: 50 # Commanded vehicle depth:474.108046 # Seafloor depth:-521.511887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.283799 meters # Minimum depth: 505.283305 meters looking forward 200.000000 meters along route # Maximum depth: 519.924700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.283305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349171; longitude = -126.134925; captureRadius = 10; duration = 110; initialDepth = 465.283305; finalDepth = 474.108046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.780191 # Actual altitude: 50 # Commanded vehicle depth:465.283305 # Seafloor depth:-514.063496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.283076 meters # Minimum depth: 495.770927 meters looking forward 200.000000 meters along route # Maximum depth: 512.388040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.770927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349854; longitude = -126.133847; captureRadius = 10; duration = 110; initialDepth = 455.770927; finalDepth = 465.283305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.321919 # Actual altitude: 50 # Commanded vehicle depth:455.770927 # Seafloor depth:-505.092846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.282351 meters # Minimum depth: 486.551399 meters looking forward 200.000000 meters along route # Maximum depth: 502.778741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.551399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.350537; longitude = -126.132769; captureRadius = 10; duration = 110; initialDepth = 446.551399; finalDepth = 455.770927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.321919 # Actual altitude: 50 # Commanded vehicle depth:446.551399 # Seafloor depth:-495.592041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.281628 meters # Minimum depth: 476.790091 meters looking forward 200.000000 meters along route # Maximum depth: 494.031481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.790091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351221; longitude = -126.131691; captureRadius = 10; duration = 110; initialDepth = 436.790091; finalDepth = 446.551399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.169849 # Actual altitude: 50 # Commanded vehicle depth:436.790091 # Seafloor depth:-485.959940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.041144 meters # Minimum depth: 468.430488 meters looking forward 200.000000 meters along route # Maximum depth: 484.138770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.430488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351904; longitude = -126.130613; captureRadius = 10; duration = 102; initialDepth = 428.430488; finalDepth = 436.790091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.169849 # Actual altitude: 50 # Commanded vehicle depth:428.430488 # Seafloor depth:-476.344131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.734958 meters # Minimum depth: 461.075735 meters looking forward 200.000000 meters along route # Maximum depth: 475.202873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.075735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352536; longitude = -126.129615; captureRadius = 10; duration = 104; initialDepth = 421.075735; finalDepth = 428.430488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.913643 # Actual altitude: 50 # Commanded vehicle depth:421.075735 # Seafloor depth:-467.984992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.378440 meters # Minimum depth: 453.235549 meters looking forward 200.000000 meters along route # Maximum depth: 467.609728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.235549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353185; longitude = -126.128591; captureRadius = 10; duration = 101; initialDepth = 413.235549; finalDepth = 421.075735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.909257 # Actual altitude: 50 # Commanded vehicle depth:413.235549 # Seafloor depth:-459.472160 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 98.026803 meters # Minimum depth: 447.247138 meters looking forward 200.000000 meters along route # Maximum depth: 459.472160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.247138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353813; longitude = -126.127600; captureRadius = 10; duration = 98; initialDepth = 407.247138; finalDepth = 413.235549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.236611 # Actual altitude: 50 # Commanded vehicle depth:407.247138 # Seafloor depth:-452.784050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.462319 meters # Minimum depth: 441.317000 meters looking forward 200.000000 meters along route # Maximum depth: 452.274160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.317000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354558; longitude = -126.126892; captureRadius = 10; duration = 106; initialDepth = 401.317000; finalDepth = 407.247138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.536912 # Actual altitude: 50 # Commanded vehicle depth:401.317 # Seafloor depth:-446.600961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.461876 meters # Minimum depth: 435.680819 meters looking forward 200.000000 meters along route # Maximum depth: 445.691749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.680819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.355366; longitude = -126.126124; captureRadius = 10; duration = 106; initialDepth = 395.680819; finalDepth = 401.317000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.329831 # Actual altitude: 50 # Commanded vehicle depth:395.680819 # Seafloor depth:-441.010650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.743860 meters # Minimum depth: 430.055927 meters looking forward 200.000000 meters along route # Maximum depth: 439.222435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.055927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356175; longitude = -126.125355; captureRadius = 10; duration = 111; initialDepth = 390.055927; finalDepth = 395.680819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.612986 # Actual altitude: 50 # Commanded vehicle depth:390.055927 # Seafloor depth:-435.668913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.178568 meters # Minimum depth: 424.825808 meters looking forward 200.000000 meters along route # Maximum depth: 434.932637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.825808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.357024; longitude = -126.124548; captureRadius = 10; duration = 101; initialDepth = 384.825808; finalDepth = 390.055927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.612986 # Actual altitude: 50 # Commanded vehicle depth:384.825808 # Seafloor depth:-429.906042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.460550 meters # Minimum depth: 422.690860 meters looking forward 200.000000 meters along route # Maximum depth: 429.360976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.690860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.357792; longitude = -126.123817; captureRadius = 10; duration = 106; initialDepth = 382.690860; finalDepth = 384.825808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.080234 # Actual altitude: 50 # Commanded vehicle depth:382.69086 # Seafloor depth:-426.051801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 113.392722 meters # Minimum depth: 418.770352 meters looking forward 200.000000 meters along route # Maximum depth: 425.191646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.770352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358601; longitude = -126.123049; captureRadius = 10; duration = 113; initialDepth = 378.770352; finalDepth = 382.690860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.905749 # Actual altitude: 50 # Commanded vehicle depth:378.770352 # Seafloor depth:-422.676101 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 61.880836 meters # Minimum depth: 414.876883 meters looking forward 200.000000 meters along route # Maximum depth: 423.192579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.876883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359462; longitude = -126.122230; captureRadius = 10; duration = 61; initialDepth = 374.876883; finalDepth = 378.770352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.905749 # Actual altitude: 50 # Commanded vehicle depth:374.876883 # Seafloor depth:-417.820000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.312620 meters # Minimum depth: 410.612938 meters looking forward 200.000000 meters along route # Maximum depth: 418.847923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.612938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359994; longitude = -126.121987; captureRadius = 10; duration = 104; initialDepth = 370.612938; finalDepth = 374.876883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.109476 # Actual altitude: 50 # Commanded vehicle depth:370.612938 # Seafloor depth:-414.722414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.888542 meters # Minimum depth: 408.214619 meters looking forward 200.000000 meters along route # Maximum depth: 414.882588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.214619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.360892; longitude = -126.121578; captureRadius = 10; duration = 101; initialDepth = 368.214619; finalDepth = 370.612938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.109476 # Actual altitude: 50 # Commanded vehicle depth:368.214619 # Seafloor depth:-410.591986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.100398 meters # Minimum depth: 405.746956 meters looking forward 200.000000 meters along route # Maximum depth: 410.190070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.746956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.361768; longitude = -126.121179; captureRadius = 10; duration = 103; initialDepth = 365.746956; finalDepth = 368.214619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.479271 # Actual altitude: 50 # Commanded vehicle depth:365.746956 # Seafloor depth:-408.226227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.100275 meters # Minimum depth: 403.598022 meters looking forward 200.000000 meters along route # Maximum depth: 408.144578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.598022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.362655; longitude = -126.120774; captureRadius = 10; duration = 103; initialDepth = 363.598022; finalDepth = 365.746956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.479271 # Actual altitude: 50 # Commanded vehicle depth:363.598022 # Seafloor depth:-405.729768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.100152 meters # Minimum depth: 401.852540 meters looking forward 200.000000 meters along route # Maximum depth: 405.505626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.852540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.363542; longitude = -126.120370; captureRadius = 10; duration = 103; initialDepth = 361.852540; finalDepth = 363.598022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.131746 # Actual altitude: 50 # Commanded vehicle depth:361.85254 # Seafloor depth:-403.260616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.750605 meters # Minimum depth: 398.942527 meters looking forward 200.000000 meters along route # Maximum depth: 402.732928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.942527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.364429; longitude = -126.119966; captureRadius = 10; duration = 105; initialDepth = 358.942527; finalDepth = 361.852540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.827788 # Actual altitude: 50 # Commanded vehicle depth:358.942527 # Seafloor depth:-401.770315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.449333 meters # Minimum depth: 397.110988 meters looking forward 200.000000 meters along route # Maximum depth: 401.584846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.110988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.365339; longitude = -126.119551; captureRadius = 10; duration = 100; initialDepth = 357.110988; finalDepth = 358.942527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.827788 # Actual altitude: 50 # Commanded vehicle depth:357.110988 # Seafloor depth:-398.879197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.192842 meters # Minimum depth: 394.097763 meters looking forward 200.000000 meters along route # Maximum depth: 398.504514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.097763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.366204; longitude = -126.119157; captureRadius = 10; duration = 103; initialDepth = 354.097763; finalDepth = 357.110988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.401133 # Actual altitude: 50 # Commanded vehicle depth:354.097763 # Seafloor depth:-397.498896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.821788 meters # Minimum depth: 390.778188 meters looking forward 200.000000 meters along route # Maximum depth: 395.893845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.778188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.367091; longitude = -126.118752; captureRadius = 10; duration = 112; initialDepth = 350.778188; finalDepth = 354.097763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.579776 # Actual altitude: 50 # Commanded vehicle depth:350.778188 # Seafloor depth:-394.357964 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 0.000000 meters # Minimum depth: 390.586739 meters looking forward 200.000000 meters along route # Maximum depth: 395.893845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.586739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368062; longitude = -126.118310; captureRadius = 10; duration = 0; initialDepth = 350.586739; finalDepth = 350.778188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.579776 # Actual altitude: 50 # Commanded vehicle depth:350.586739 # Seafloor depth:-390.586739 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 11.964893 meters # Minimum depth: 390.586739 meters looking forward 200.000000 meters along route # Maximum depth: 395.893845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.586739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368062; longitude = -126.118310; captureRadius = 10; duration = 11; initialDepth = 350.586739; finalDepth = 350.586739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.586739 # Seafloor depth:-390.586739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990725 meters # Minimum depth: 388.048531 meters looking forward 200.000000 meters along route # Maximum depth: 393.069747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.048531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368170; longitude = -126.118304; captureRadius = 10; duration = 104; initialDepth = 348.048531; finalDepth = 350.586739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.392921 # Actual altitude: 50 # Commanded vehicle depth:348.048531 # Seafloor depth:-390.441452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990741 meters # Minimum depth: 385.352618 meters looking forward 200.000000 meters along route # Maximum depth: 390.261559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.352618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.369113; longitude = -126.118252; captureRadius = 10; duration = 104; initialDepth = 345.352618; finalDepth = 348.048531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.392921 # Actual altitude: 50 # Commanded vehicle depth:345.352618 # Seafloor depth:-387.688691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990755 meters # Minimum depth: 383.796449 meters looking forward 200.000000 meters along route # Maximum depth: 387.438262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.796449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.370056; longitude = -126.118201; captureRadius = 10; duration = 104; initialDepth = 343.796449; finalDepth = 345.352618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.336073 # Actual altitude: 50 # Commanded vehicle depth:343.796449 # Seafloor depth:-385.162793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990770 meters # Minimum depth: 378.206336 meters looking forward 200.000000 meters along route # Maximum depth: 386.128575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.206336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.371000; longitude = -126.118149; captureRadius = 10; duration = 104; initialDepth = 338.206336; finalDepth = 343.796449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.885813 # Actual altitude: 50 # Commanded vehicle depth:338.206336 # Seafloor depth:-383.092149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990784 meters # Minimum depth: 372.599356 meters looking forward 200.000000 meters along route # Maximum depth: 381.733907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.599356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.371943; longitude = -126.118097; captureRadius = 10; duration = 104; initialDepth = 332.599356; finalDepth = 338.206336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.885813 # Actual altitude: 50 # Commanded vehicle depth:332.599356 # Seafloor depth:-376.890453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990799 meters # Minimum depth: 369.424736 meters looking forward 200.000000 meters along route # Maximum depth: 376.228924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.424736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.372887; longitude = -126.118046; captureRadius = 10; duration = 104; initialDepth = 329.424736; finalDepth = 332.599356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.291097 # Actual altitude: 50 # Commanded vehicle depth:329.424736 # Seafloor depth:-370.771258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.990813 meters # Minimum depth: 366.192545 meters looking forward 200.000000 meters along route # Maximum depth: 370.667259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.192545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.373830; longitude = -126.117994; captureRadius = 10; duration = 104; initialDepth = 326.192545; finalDepth = 329.424736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.101755 # Actual altitude: 50 # Commanded vehicle depth:326.192545 # Seafloor depth:-369.294300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.793012 meters # Minimum depth: 363.965291 meters looking forward 200.000000 meters along route # Maximum depth: 368.835565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.965291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.374773; longitude = -126.117942; captureRadius = 10; duration = 101; initialDepth = 323.965291; finalDepth = 326.192545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.101755 # Actual altitude: 50 # Commanded vehicle depth:323.965291 # Seafloor depth:-365.997149 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 64.179918 meters # Minimum depth: 362.895015 meters looking forward 200.000000 meters along route # Maximum depth: 367.353443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.895015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.375688; longitude = -126.117892; captureRadius = 10; duration = 64; initialDepth = 322.895015; finalDepth = 323.965291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.031858 # Actual altitude: 50 # Commanded vehicle depth:322.895015 # Seafloor depth:-363.699547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.631195 meters # Minimum depth: 358.694150 meters looking forward 200.000000 meters along route # Maximum depth: 364.303796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.694150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.376256; longitude = -126.118047; captureRadius = 10; duration = 106; initialDepth = 318.694150; finalDepth = 322.895015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.282965 # Actual altitude: 50 # Commanded vehicle depth:318.69415 # Seafloor depth:-361.977115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.631137 meters # Minimum depth: 356.923200 meters looking forward 200.000000 meters along route # Maximum depth: 361.525130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.923200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.377199; longitude = -126.118303; captureRadius = 10; duration = 106; initialDepth = 316.923200; finalDepth = 318.694150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.282965 # Actual altitude: 50 # Commanded vehicle depth:316.9232 # Seafloor depth:-358.712245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.631078 meters # Minimum depth: 355.390912 meters looking forward 200.000000 meters along route # Maximum depth: 358.467115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.390912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.378143; longitude = -126.118560; captureRadius = 10; duration = 106; initialDepth = 315.390912; finalDepth = 316.923200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.789045 # Actual altitude: 50 # Commanded vehicle depth:315.390912 # Seafloor depth:-356.247471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.631019 meters # Minimum depth: 353.208481 meters looking forward 200.000000 meters along route # Maximum depth: 356.265155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.208481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.379086; longitude = -126.118817; captureRadius = 10; duration = 106; initialDepth = 313.208481; finalDepth = 315.390912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.592609 # Actual altitude: 50 # Commanded vehicle depth:313.208481 # Seafloor depth:-354.801090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.475229 meters # Minimum depth: 349.501337 meters looking forward 200.000000 meters along route # Maximum depth: 354.250617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.501337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.380029; longitude = -126.119073; captureRadius = 10; duration = 109; initialDepth = 309.501337; finalDepth = 313.208481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.176364 # Actual altitude: 50 # Commanded vehicle depth:309.501337 # Seafloor depth:-352.677701 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 28.766045 meters # Minimum depth: 349.501337 meters looking forward 200.000000 meters along route # Maximum depth: 353.998258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.501337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.380998; longitude = -126.119337; captureRadius = 10; duration = 28; initialDepth = 309.501337; finalDepth = 309.501337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.176364 # Actual altitude: 50 # Commanded vehicle depth:309.501337 # Seafloor depth:-350.717514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.048401 meters # Minimum depth: 347.276534 meters looking forward 200.000000 meters along route # Maximum depth: 351.828662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.276534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.381242; longitude = -126.119210; captureRadius = 10; duration = 111; initialDepth = 307.276534; finalDepth = 309.501337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.959241 # Actual altitude: 50 # Commanded vehicle depth:307.276534 # Seafloor depth:-349.235775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.221183 meters # Minimum depth: 344.588488 meters looking forward 200.000000 meters along route # Maximum depth: 350.550346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.588488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.382186; longitude = -126.118719; captureRadius = 10; duration = 114; initialDepth = 304.588488; finalDepth = 307.276534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.613212 # Actual altitude: 50 # Commanded vehicle depth:304.588488 # Seafloor depth:-347.201700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.875063 meters # Minimum depth: 340.906475 meters looking forward 200.000000 meters along route # Maximum depth: 346.783877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.906475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.383156; longitude = -126.118214; captureRadius = 10; duration = 107; initialDepth = 300.906475; finalDepth = 304.588488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.487418 # Actual altitude: 50 # Commanded vehicle depth:300.906475 # Seafloor depth:-344.393893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.479543 meters # Minimum depth: 337.809595 meters looking forward 200.000000 meters along route # Maximum depth: 342.763678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.809595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.384073; longitude = -126.117737; captureRadius = 10; duration = 105; initialDepth = 297.809595; finalDepth = 300.906475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.487418 # Actual altitude: 50 # Commanded vehicle depth:297.809595 # Seafloor depth:-340.427787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.752023 meters # Minimum depth: 334.669212 meters looking forward 200.000000 meters along route # Maximum depth: 339.933323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.669212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.384969; longitude = -126.117270; captureRadius = 10; duration = 100; initialDepth = 294.669212; finalDepth = 297.809595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.86577 # Actual altitude: 50 # Commanded vehicle depth:294.669212 # Seafloor depth:-337.534982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.274728 meters # Minimum depth: 332.019561 meters looking forward 200.000000 meters along route # Maximum depth: 337.339115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.019561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.385825; longitude = -126.116825; captureRadius = 10; duration = 101; initialDepth = 292.019561; finalDepth = 294.669212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.86577 # Actual altitude: 50 # Commanded vehicle depth:292.019561 # Seafloor depth:-334.209471 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 62.492300 meters # Minimum depth: 329.763325 meters looking forward 200.000000 meters along route # Maximum depth: 335.334924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.763325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.386685; longitude = -126.116377; captureRadius = 10; duration = 62; initialDepth = 289.763325; finalDepth = 292.019561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.18991 # Actual altitude: 50 # Commanded vehicle depth:289.763325 # Seafloor depth:-331.701462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.399230 meters # Minimum depth: 327.105060 meters looking forward 200.000000 meters along route # Maximum depth: 332.532668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.105060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.387205; longitude = -126.116057; captureRadius = 10; duration = 105; initialDepth = 287.105060; finalDepth = 289.763325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.586849 # Actual altitude: 50 # Commanded vehicle depth:287.10506 # Seafloor depth:-329.691909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.940393 meters # Minimum depth: 324.810278 meters looking forward 200.000000 meters along route # Maximum depth: 329.465523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.810278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388082; longitude = -126.115518; captureRadius = 10; duration = 100; initialDepth = 284.810278; finalDepth = 287.105060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.586849 # Actual altitude: 50 # Commanded vehicle depth:284.810278 # Seafloor depth:-326.210726 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 5.742903 meters # Minimum depth: 324.282979 meters looking forward 200.000000 meters along route # Maximum depth: 329.465523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.282979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388922; longitude = -126.115002; captureRadius = 10; duration = 5; initialDepth = 284.282979; finalDepth = 284.810278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.400448 # Actual altitude: 50 # Commanded vehicle depth:284.282979 # Seafloor depth:-324.500702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.819035 meters # Minimum depth: 321.529745 meters looking forward 200.000000 meters along route # Maximum depth: 325.984967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.529745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388971; longitude = -126.114979; captureRadius = 10; duration = 101; initialDepth = 281.529745; finalDepth = 284.282979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.595238 # Actual altitude: 50 # Commanded vehicle depth:281.529745 # Seafloor depth:-324.124983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818913 meters # Minimum depth: 318.673852 meters looking forward 200.000000 meters along route # Maximum depth: 323.803568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.673852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.389846; longitude = -126.114575; captureRadius = 10; duration = 101; initialDepth = 278.673852; finalDepth = 281.529745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.73952 # Actual altitude: 50 # Commanded vehicle depth:278.673852 # Seafloor depth:-321.413372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818789 meters # Minimum depth: 316.124538 meters looking forward 200.000000 meters along route # Maximum depth: 321.198341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.124538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.390721; longitude = -126.114171; captureRadius = 10; duration = 101; initialDepth = 276.124538; finalDepth = 278.673852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.73952 # Actual altitude: 50 # Commanded vehicle depth:276.124538 # Seafloor depth:-318.796356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818667 meters # Minimum depth: 311.730708 meters looking forward 200.000000 meters along route # Maximum depth: 319.168260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.730708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.391596; longitude = -126.113766; captureRadius = 10; duration = 101; initialDepth = 271.730708; finalDepth = 276.124538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.319085 # Actual altitude: 50 # Commanded vehicle depth:271.730708 # Seafloor depth:-316.049793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818543 meters # Minimum depth: 309.397111 meters looking forward 200.000000 meters along route # Maximum depth: 315.388394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.397111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.392471; longitude = -126.113362; captureRadius = 10; duration = 101; initialDepth = 269.397111; finalDepth = 271.730708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.319085 # Actual altitude: 50 # Commanded vehicle depth:269.397111 # Seafloor depth:-311.424931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818422 meters # Minimum depth: 307.462913 meters looking forward 200.000000 meters along route # Maximum depth: 310.832636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.462913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.393346; longitude = -126.112958; captureRadius = 10; duration = 101; initialDepth = 267.462913; finalDepth = 269.397111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.02782 # Actual altitude: 50 # Commanded vehicle depth:267.462913 # Seafloor depth:-308.999239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818298 meters # Minimum depth: 304.310843 meters looking forward 200.000000 meters along route # Maximum depth: 308.443578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.310843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.394221; longitude = -126.112553; captureRadius = 10; duration = 101; initialDepth = 264.310843; finalDepth = 267.462913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.963446 # Actual altitude: 50 # Commanded vehicle depth:264.310843 # Seafloor depth:-307.274289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818175 meters # Minimum depth: 300.658473 meters looking forward 200.000000 meters along route # Maximum depth: 306.841656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.658473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.395096; longitude = -126.112149; captureRadius = 10; duration = 101; initialDepth = 260.658473; finalDepth = 264.310843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.228966 # Actual altitude: 50 # Commanded vehicle depth:260.658473 # Seafloor depth:-303.887439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.818053 meters # Minimum depth: 298.808196 meters looking forward 200.000000 meters along route # Maximum depth: 303.389442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.808196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.395971; longitude = -126.111745; captureRadius = 10; duration = 101; initialDepth = 258.808196; finalDepth = 260.658473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.228966 # Actual altitude: 50 # Commanded vehicle depth:258.808196 # Seafloor depth:-300.707162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817930 meters # Minimum depth: 294.584004 meters looking forward 200.000000 meters along route # Maximum depth: 300.855936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.584004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.396846; longitude = -126.111340; captureRadius = 10; duration = 101; initialDepth = 254.584004; finalDepth = 258.808196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.513295 # Actual altitude: 50 # Commanded vehicle depth:254.584004 # Seafloor depth:-298.097299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817807 meters # Minimum depth: 292.302429 meters looking forward 200.000000 meters along route # Maximum depth: 297.489401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.302429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.397721; longitude = -126.110936; captureRadius = 10; duration = 101; initialDepth = 252.302429; finalDepth = 254.584004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.513295 # Actual altitude: 50 # Commanded vehicle depth:252.302429 # Seafloor depth:-294.478546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817685 meters # Minimum depth: 289.678634 meters looking forward 200.000000 meters along route # Maximum depth: 294.222358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.678634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.398596; longitude = -126.110532; captureRadius = 10; duration = 101; initialDepth = 249.678634; finalDepth = 252.302429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.176117 # Actual altitude: 50 # Commanded vehicle depth:249.678634 # Seafloor depth:-291.851510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817561 meters # Minimum depth: 287.510926 meters looking forward 200.000000 meters along route # Maximum depth: 291.770674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.510926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.399471; longitude = -126.110127; captureRadius = 10; duration = 101; initialDepth = 247.510926; finalDepth = 249.678634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.172876 # Actual altitude: 50 # Commanded vehicle depth:247.510926 # Seafloor depth:-289.573834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817439 meters # Minimum depth: 284.898280 meters looking forward 200.000000 meters along route # Maximum depth: 289.143823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.898280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.400346; longitude = -126.109723; captureRadius = 10; duration = 101; initialDepth = 244.898280; finalDepth = 247.510926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.576703 # Actual altitude: 50 # Commanded vehicle depth:244.89828 # Seafloor depth:-287.474983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817316 meters # Minimum depth: 282.102154 meters looking forward 200.000000 meters along route # Maximum depth: 287.499569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.102154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.401221; longitude = -126.109319; captureRadius = 10; duration = 101; initialDepth = 242.102154; finalDepth = 244.898280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.756898 # Actual altitude: 50 # Commanded vehicle depth:242.102154 # Seafloor depth:-284.859052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.817194 meters # Minimum depth: 279.922506 meters looking forward 200.000000 meters along route # Maximum depth: 284.661299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.922506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.402096; longitude = -126.108914; captureRadius = 10; duration = 101; initialDepth = 239.922506; finalDepth = 242.102154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.756898 # Actual altitude: 50 # Commanded vehicle depth:239.922506 # Seafloor depth:-282.032582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.186021 meters # Minimum depth: 276.747279 meters looking forward 200.000000 meters along route # Maximum depth: 281.640463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.747279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.402971; longitude = -126.108510; captureRadius = 10; duration = 106; initialDepth = 236.747279; finalDepth = 239.922506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.152708 # Actual altitude: 50 # Commanded vehicle depth:236.747279 # Seafloor depth:-279.899987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.421126 meters # Minimum depth: 274.631866 meters looking forward 200.000000 meters along route # Maximum depth: 278.726082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.631866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.403884; longitude = -126.108088; captureRadius = 10; duration = 110; initialDepth = 234.631866; finalDepth = 236.747279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.152708 # Actual altitude: 50 # Commanded vehicle depth:234.631866 # Seafloor depth:-277.169846 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 97.722657 meters # Minimum depth: 272.003669 meters looking forward 200.000000 meters along route # Maximum depth: 276.649989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.003669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.404833; longitude = -126.107650; captureRadius = 10; duration = 97; initialDepth = 232.003669; finalDepth = 234.631866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.53798 # Actual altitude: 50 # Commanded vehicle depth:232.003669 # Seafloor depth:-274.241432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.797354 meters # Minimum depth: 269.238081 meters looking forward 200.000000 meters along route # Maximum depth: 273.866926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.238081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.405636; longitude = -126.107115; captureRadius = 10; duration = 114; initialDepth = 229.238081; finalDepth = 232.003669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.509235 # Actual altitude: 50 # Commanded vehicle depth:229.238081 # Seafloor depth:-271.747316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.737574 meters # Minimum depth: 266.933919 meters looking forward 200.000000 meters along route # Maximum depth: 271.278734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.933919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.406579; longitude = -126.106485; captureRadius = 10; duration = 103; initialDepth = 226.933919; finalDepth = 229.238081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.509235 # Actual altitude: 50 # Commanded vehicle depth:226.933919 # Seafloor depth:-269.223546 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 104.363837 meters # Minimum depth: 265.305069 meters looking forward 200.000000 meters along route # Maximum depth: 268.751976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.305069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.407432; longitude = -126.105917; captureRadius = 10; duration = 104; initialDepth = 225.305069; finalDepth = 226.933919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.289627 # Actual altitude: 50 # Commanded vehicle depth:225.305069 # Seafloor depth:-266.773788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.455321 meters # Minimum depth: 263.825695 meters looking forward 200.000000 meters along route # Maximum depth: 266.282397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.825695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.408332; longitude = -126.105516; captureRadius = 10; duration = 109; initialDepth = 223.825695; finalDepth = 225.305069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.468719 # Actual altitude: 50 # Commanded vehicle depth:223.825695 # Seafloor depth:-265.136057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.455190 meters # Minimum depth: 262.137078 meters looking forward 200.000000 meters along route # Maximum depth: 264.455511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.137078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.409275; longitude = -126.105095; captureRadius = 10; duration = 109; initialDepth = 222.137078; finalDepth = 223.825695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.479516 # Actual altitude: 50 # Commanded vehicle depth:222.137078 # Seafloor depth:-263.616594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.455058 meters # Minimum depth: 259.217121 meters looking forward 200.000000 meters along route # Maximum depth: 263.169215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.217121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.410218; longitude = -126.104674; captureRadius = 10; duration = 109; initialDepth = 219.217121; finalDepth = 222.137078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.621917 # Actual altitude: 50 # Commanded vehicle depth:219.217121 # Seafloor depth:-261.839038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.826712 meters # Minimum depth: 256.665205 meters looking forward 200.000000 meters along route # Maximum depth: 261.582527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.665205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.411162; longitude = -126.104253; captureRadius = 10; duration = 102; initialDepth = 216.665205; finalDepth = 219.217121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.621917 # Actual altitude: 50 # Commanded vehicle depth:216.665205 # Seafloor depth:-258.729417 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 42.064212 # Actual altitude: 50 # Commanded vehicle depth:216.665205 # Seafloor depth:-256.692253 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 256.665205 meters looking forward 200.000000 meters along route # Maximum depth: 261.582527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.665205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.412048; longitude = -126.103857; captureRadius = 10; duration = 500; initialDepth = 216.665205; finalDepth = 216.665205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 194.381414; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 194.381414; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################