# 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: BarkleyMission02.rte # Mission File: BarkleyMission02.cfg # Distance: 40452.570023 (m) # Estimated Time: 30587 (s) 8.497 (hr) # Abort Time: 28800 (s) # Way Points: 25 # Route Points: 397 # 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 -126.105096 48.412285 -258.449226 0.000000 1 # 1 -126.109094 48.405052 -276.223488 857.171173 1 # 2 -126.116821 48.388026 -329.037346 2835.325580 1 # 3 -126.120729 48.381153 -351.287445 3652.698049 1 # 4 -126.119337 48.375537 -365.568100 4285.740873 1 # 5 -126.119606 48.368259 -391.272621 5095.410818 1 # 6 -126.123515 48.359769 -417.583412 6083.068709 1 # 7 -126.128681 48.354468 -452.122070 6786.052056 1 # 8 -126.138924 48.347999 -534.275345 7832.063566 1 # 9 -126.151727 48.344495 -611.523636 8858.106783 1 # 10 -126.183398 48.338834 -785.082184 11289.185115 1 # 11 -126.232860 48.337756 -1008.459854 14958.528862 1 # 12 -126.258062 48.332230 -1141.863129 16925.693839 1 # 13 -126.292024 48.317540 -1278.012329 19927.823494 1 # 14 -126.319922 48.312149 -1368.138275 22082.301193 1 # 15 -126.344136 48.299256 -1492.852661 24380.741557 1 # 16 -126.342968 48.298403 -1506.063385 24509.227748 1 # 17 -126.315699 48.307342 -1395.885651 26763.432976 1 # 18 -126.290362 48.313946 -1320.101257 28781.391782 1 # 19 -126.263722 48.318484 -1135.054962 30820.855623 1 # 20 -126.244315 48.324548 -1066.228027 32410.389179 1 # 21 -126.230434 48.328187 -981.950256 33516.520881 1 # 22 -126.182994 48.337082 -786.048935 37170.813675 1 # 23 -126.150649 48.342743 -613.834473 39650.274171 1 # 24 -126.141080 48.346112 -553.666667 40452.570023 1 # # A total of 397 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 40452.570023 #define MISSION_TIME 30587 #define MISSION_TIMEOUT 28800 #define DEPTH_MAX 1500.000000 #define DEPTH_ABORT 1600.000000 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 30.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 4.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2143; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 82.864463 meters # Minimum depth: 553.666667 meters looking forward 200.000000 meters along route # Maximum depth: 558.840391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.666667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346112; longitude = -126.141080; captureRadius = 10; duration = 82; initialDepth = 513.666667; finalDepth = 513.666667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.666667 # Seafloor depth:-553.666667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.697854 meters # Minimum depth: 553.666667 meters looking forward 200.000000 meters along route # Maximum depth: 566.022887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.666667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345764; longitude = -126.142068; captureRadius = 10; duration = 101; initialDepth = 513.666667; finalDepth = 513.666667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4510330000001 # Actual altitude: 50 # Commanded vehicle depth:513.666667 # Seafloor depth:-560.117700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.698470 meters # Minimum depth: 560.081161 meters looking forward 200.000000 meters along route # Maximum depth: 572.640722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.081161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345337; longitude = -126.143281; captureRadius = 10; duration = 101; initialDepth = 520.081161; finalDepth = 513.666667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7777610000001 # Actual altitude: 50 # Commanded vehicle depth:520.081161 # Seafloor depth:-566.858922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.699086 meters # Minimum depth: 567.328387 meters looking forward 200.000000 meters along route # Maximum depth: 578.679508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.328387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344910; longitude = -126.144494; captureRadius = 10; duration = 101; initialDepth = 527.328387; finalDepth = 520.081161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7777610000001 # Actual altitude: 50 # Commanded vehicle depth:527.328387 # Seafloor depth:-573.401793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.699702 meters # Minimum depth: 574.128965 meters looking forward 200.000000 meters along route # Maximum depth: 585.818282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.128965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344483; longitude = -126.145707; captureRadius = 10; duration = 101; initialDepth = 534.128965; finalDepth = 527.328387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.073406 # Actual altitude: 50 # Commanded vehicle depth:534.128965 # Seafloor depth:-578.904282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.700319 meters # Minimum depth: 579.186175 meters looking forward 200.000000 meters along route # Maximum depth: 594.481653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.186175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344055; longitude = -126.146920; captureRadius = 10; duration = 101; initialDepth = 539.186175; finalDepth = 534.128965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9225309999999 # Actual altitude: 50 # Commanded vehicle depth:539.186175 # Seafloor depth:-587.108706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.700934 meters # Minimum depth: 588.066198 meters looking forward 200.000000 meters along route # Maximum depth: 602.756211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.066198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343628; longitude = -126.148133; captureRadius = 10; duration = 101; initialDepth = 548.066198; finalDepth = 539.186175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9225309999999 # Actual altitude: 50 # Commanded vehicle depth:548.066198 # Seafloor depth:-594.769968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.235024 meters # Minimum depth: 595.739891 meters looking forward 200.000000 meters along route # Maximum depth: 613.099959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.739891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343201; longitude = -126.149346; captureRadius = 10; duration = 109; initialDepth = 555.739891; finalDepth = 548.066198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7947590000001 # Actual altitude: 50 # Commanded vehicle depth:555.739891 # Seafloor depth:-603.534650 # behavior reson { duration = RESON_DURATION; 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 96.419377 meters # Minimum depth: 604.628200 meters looking forward 200.000000 meters along route # Maximum depth: 621.691408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.628200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342743; longitude = -126.150649; captureRadius = 10; duration = 96; initialDepth = 564.628200; finalDepth = 555.739891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.206273 # Actual altitude: 50 # Commanded vehicle depth:564.6282 # Seafloor depth:-613.834473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.306854 meters # Minimum depth: 613.834473 meters looking forward 200.000000 meters along route # Maximum depth: 631.487313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.834473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342522; longitude = -126.151907; captureRadius = 10; duration = 103; initialDepth = 573.834473; finalDepth = 564.628200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.206273 # Actual altitude: 50 # Commanded vehicle depth:573.834473 # Seafloor depth:-622.795773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.307247 meters # Minimum depth: 623.829251 meters looking forward 200.000000 meters along route # Maximum depth: 639.066638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.829251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342287; longitude = -126.153254; captureRadius = 10; duration = 103; initialDepth = 583.829251; finalDepth = 573.834473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9613000000001 # Actual altitude: 50 # Commanded vehicle depth:583.829251 # Seafloor depth:-631.682778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.307640 meters # Minimum depth: 632.436187 meters looking forward 200.000000 meters along route # Maximum depth: 647.884624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.436187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342051; longitude = -126.154602; captureRadius = 10; duration = 103; initialDepth = 592.436187; finalDepth = 583.829251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.853527 # Actual altitude: 50 # Commanded vehicle depth:592.436187 # Seafloor depth:-640.011348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.308033 meters # Minimum depth: 640.955103 meters looking forward 200.000000 meters along route # Maximum depth: 655.033620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.955103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341815; longitude = -126.155950; captureRadius = 10; duration = 103; initialDepth = 600.955103; finalDepth = 592.436187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.806992 # Actual altitude: 50 # Commanded vehicle depth:600.955103 # Seafloor depth:-648.762095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.308425 meters # Minimum depth: 649.446171 meters looking forward 200.000000 meters along route # Maximum depth: 662.186940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.446171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341579; longitude = -126.157298; captureRadius = 10; duration = 103; initialDepth = 609.446171; finalDepth = 600.955103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.806992 # Actual altitude: 50 # Commanded vehicle depth:609.446171 # Seafloor depth:-655.364084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.308819 meters # Minimum depth: 656.227761 meters looking forward 200.000000 meters along route # Maximum depth: 668.643116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.227761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341343; longitude = -126.158645; captureRadius = 10; duration = 103; initialDepth = 616.227761; finalDepth = 609.446171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.189788 # Actual altitude: 50 # Commanded vehicle depth:616.227761 # Seafloor depth:-662.417549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.309210 meters # Minimum depth: 663.392688 meters looking forward 200.000000 meters along route # Maximum depth: 674.660323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.392688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341107; longitude = -126.159993; captureRadius = 10; duration = 103; initialDepth = 623.392688; finalDepth = 616.227761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.438976 # Actual altitude: 50 # Commanded vehicle depth:623.392688 # Seafloor depth:-669.831664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.309604 meters # Minimum depth: 670.532360 meters looking forward 200.000000 meters along route # Maximum depth: 679.808001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.532360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340871; longitude = -126.161341; captureRadius = 10; duration = 103; initialDepth = 630.532360; finalDepth = 623.392688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.438976 # Actual altitude: 50 # Commanded vehicle depth:630.53236 # Seafloor depth:-675.107626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.309997 meters # Minimum depth: 675.514578 meters looking forward 200.000000 meters along route # Maximum depth: 684.286184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.514578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340636; longitude = -126.162688; captureRadius = 10; duration = 103; initialDepth = 635.514578; finalDepth = 630.532360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.134732 # Actual altitude: 50 # Commanded vehicle depth:635.514578 # Seafloor depth:-680.649310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.310389 meters # Minimum depth: 680.963428 meters looking forward 200.000000 meters along route # Maximum depth: 689.633637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.963428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340400; longitude = -126.164036; captureRadius = 10; duration = 103; initialDepth = 640.963428; finalDepth = 635.514578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.134732 # Actual altitude: 50 # Commanded vehicle depth:640.963428 # Seafloor depth:-684.437215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.310782 meters # Minimum depth: 685.160698 meters looking forward 200.000000 meters along route # Maximum depth: 696.918790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.160698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340164; longitude = -126.165384; captureRadius = 10; duration = 103; initialDepth = 645.160698; finalDepth = 640.963428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.442093 # Actual altitude: 50 # Commanded vehicle depth:645.160698 # Seafloor depth:-690.602791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.311175 meters # Minimum depth: 691.603571 meters looking forward 200.000000 meters along route # Maximum depth: 704.130621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.603571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339928; longitude = -126.166732; captureRadius = 10; duration = 103; initialDepth = 651.603571; finalDepth = 645.160698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.919165 # Actual altitude: 50 # Commanded vehicle depth:651.603571 # Seafloor depth:-697.522736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.311568 meters # Minimum depth: 698.109442 meters looking forward 200.000000 meters along route # Maximum depth: 712.386021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.109442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339692; longitude = -126.168079; captureRadius = 10; duration = 103; initialDepth = 658.109442; finalDepth = 651.603571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6827870000001 # Actual altitude: 50 # Commanded vehicle depth:658.109442 # Seafloor depth:-704.792229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.311961 meters # Minimum depth: 705.456744 meters looking forward 200.000000 meters along route # Maximum depth: 721.319858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.456744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339456; longitude = -126.169427; captureRadius = 10; duration = 103; initialDepth = 665.456744; finalDepth = 658.109442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1859340000001 # Actual altitude: 50 # Commanded vehicle depth:665.456744 # Seafloor depth:-712.642678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.312354 meters # Minimum depth: 713.617537 meters looking forward 200.000000 meters along route # Maximum depth: 727.334789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.617537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339220; longitude = -126.170775; captureRadius = 10; duration = 103; initialDepth = 673.617537; finalDepth = 665.456744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.363238 # Actual altitude: 50 # Commanded vehicle depth:673.617537 # Seafloor depth:-721.980775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.312746 meters # Minimum depth: 722.687266 meters looking forward 200.000000 meters along route # Maximum depth: 732.883393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.687266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338985; longitude = -126.172122; captureRadius = 10; duration = 103; initialDepth = 682.687266; finalDepth = 673.617537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.363238 # Actual altitude: 50 # Commanded vehicle depth:682.687266 # Seafloor depth:-727.699448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.313140 meters # Minimum depth: 728.136206 meters looking forward 200.000000 meters along route # Maximum depth: 739.985868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.136206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338749; longitude = -126.173470; captureRadius = 10; duration = 103; initialDepth = 688.136206; finalDepth = 682.687266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.275843 # Actual altitude: 50 # Commanded vehicle depth:688.136206 # Seafloor depth:-733.412049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.313533 meters # Minimum depth: 733.879758 meters looking forward 200.000000 meters along route # Maximum depth: 746.553681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.879758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338513; longitude = -126.174818; captureRadius = 10; duration = 103; initialDepth = 693.879758; finalDepth = 688.136206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3135579999999 # Actual altitude: 50 # Commanded vehicle depth:693.879758 # Seafloor depth:-740.193316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.313925 meters # Minimum depth: 741.139612 meters looking forward 200.000000 meters along route # Maximum depth: 753.792750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.139612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338277; longitude = -126.176166; captureRadius = 10; duration = 103; initialDepth = 701.139612; finalDepth = 693.879758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3135579999999 # Actual altitude: 50 # Commanded vehicle depth:701.139612 # Seafloor depth:-747.308751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.314319 meters # Minimum depth: 747.897041 meters looking forward 200.000000 meters along route # Maximum depth: 763.015281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.897041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338041; longitude = -126.177513; captureRadius = 10; duration = 103; initialDepth = 707.897041; finalDepth = 701.139612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9512820000001 # Actual altitude: 50 # Commanded vehicle depth:707.897041 # Seafloor depth:-754.848323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.314712 meters # Minimum depth: 755.229311 meters looking forward 200.000000 meters along route # Maximum depth: 772.466551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.229311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337805; longitude = -126.178861; captureRadius = 10; duration = 103; initialDepth = 715.229311; finalDepth = 707.897041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.291624 # Actual altitude: 50 # Commanded vehicle depth:715.229311 # Seafloor depth:-763.520935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.315105 meters # Minimum depth: 764.048861 meters looking forward 200.000000 meters along route # Maximum depth: 779.879821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.048861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337569; longitude = -126.180209; captureRadius = 10; duration = 103; initialDepth = 724.048861; finalDepth = 715.229311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.472068 # Actual altitude: 50 # Commanded vehicle depth:724.048861 # Seafloor depth:-772.520929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.199581 meters # Minimum depth: 773.874969 meters looking forward 200.000000 meters along route # Maximum depth: 785.747740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.874969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337334; longitude = -126.181556; captureRadius = 10; duration = 110; initialDepth = 733.874969; finalDepth = 724.048861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.472068 # Actual altitude: 50 # Commanded vehicle depth:733.874969 # Seafloor depth:-780.005145 # behavior reson { duration = RESON_DURATION; 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 24.225295 meters # Minimum depth: 774.759273 meters looking forward 200.000000 meters along route # Maximum depth: 786.665319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.759273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337082; longitude = -126.182994; captureRadius = 10; duration = 24; initialDepth = 734.759273; finalDepth = 733.874969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.289662 # Actual altitude: 51.289662 # Commanded vehicle depth:734.759273 # Seafloor depth:-786.048935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 123.10; MB_Bottom_Detect_Filter_Min_Depth = 25.64; MB_Bottom_Detect_Filter_Max_Depth = 123.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.898777 meters # Minimum depth: 782.110035 meters looking forward 200.000000 meters along route # Maximum depth: 793.057130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.110035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337023; longitude = -126.183309; captureRadius = 10; duration = 104; initialDepth = 742.110035; finalDepth = 734.759273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.289662 # Actual altitude: 51.289662 # Commanded vehicle depth:742.110035 # Seafloor depth:-786.863254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 123.10; MB_Bottom_Detect_Filter_Min_Depth = 25.64; MB_Bottom_Detect_Filter_Max_Depth = 123.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.716281 meters # Minimum depth: 787.660435 meters looking forward 200.000000 meters along route # Maximum depth: 796.009923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.660435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336768; longitude = -126.184670; captureRadius = 10; duration = 102; initialDepth = 747.660435; finalDepth = 742.110035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.443834 # Actual altitude: 50 # Commanded vehicle depth:747.660435 # Seafloor depth:-793.104269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.808163 meters # Minimum depth: 792.765243 meters looking forward 200.000000 meters along route # Maximum depth: 799.571027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.765243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336518; longitude = -126.186004; captureRadius = 10; duration = 103; initialDepth = 752.765243; finalDepth = 747.660435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.443834 # Actual altitude: 50 # Commanded vehicle depth:752.765243 # Seafloor depth:-796.566275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.808586 meters # Minimum depth: 796.912227 meters looking forward 200.000000 meters along route # Maximum depth: 802.105506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.912227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336265; longitude = -126.187352; captureRadius = 10; duration = 103; initialDepth = 756.912227; finalDepth = 752.765243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.801032 # Actual altitude: 50 # Commanded vehicle depth:756.912227 # Seafloor depth:-800.034582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.809008 meters # Minimum depth: 800.550592 meters looking forward 200.000000 meters along route # Maximum depth: 804.996836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.550592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336012; longitude = -126.188699; captureRadius = 10; duration = 103; initialDepth = 760.550592; finalDepth = 756.912227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.122355 # Actual altitude: 50 # Commanded vehicle depth:760.550592 # Seafloor depth:-802.246794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.809430 meters # Minimum depth: 802.349537 meters looking forward 200.000000 meters along route # Maximum depth: 811.302184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.349537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335760; longitude = -126.190047; captureRadius = 10; duration = 103; initialDepth = 762.349537; finalDepth = 760.550592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1254319999999 # Actual altitude: 50 # Commanded vehicle depth:762.349537 # Seafloor depth:-805.474969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.809853 meters # Minimum depth: 805.966274 meters looking forward 200.000000 meters along route # Maximum depth: 821.046865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.966274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335507; longitude = -126.191395; captureRadius = 10; duration = 103; initialDepth = 765.966274; finalDepth = 762.349537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.326634 # Actual altitude: 50 # Commanded vehicle depth:765.966274 # Seafloor depth:-812.292908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.810276 meters # Minimum depth: 813.229323 meters looking forward 200.000000 meters along route # Maximum depth: 829.318750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.229323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335254; longitude = -126.192743; captureRadius = 10; duration = 103; initialDepth = 773.229323; finalDepth = 765.966274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.703638 # Actual altitude: 50 # Commanded vehicle depth:773.229323 # Seafloor depth:-821.932961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.902192 meters # Minimum depth: 823.003149 meters looking forward 200.000000 meters along route # Maximum depth: 835.159755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.003149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335001; longitude = -126.194090; captureRadius = 10; duration = 104; initialDepth = 783.003149; finalDepth = 773.229323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.703638 # Actual altitude: 50 # Commanded vehicle depth:783.003149 # Seafloor depth:-829.607045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.719627 meters # Minimum depth: 830.122519 meters looking forward 200.000000 meters along route # Maximum depth: 842.328939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.122519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334746; longitude = -126.195452; captureRadius = 10; duration = 102; initialDepth = 790.122519; finalDepth = 783.003149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.603896 # Actual altitude: 50 # Commanded vehicle depth:790.122519 # Seafloor depth:-835.231624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.811544 meters # Minimum depth: 835.888239 meters looking forward 200.000000 meters along route # Maximum depth: 851.068029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.888239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334496; longitude = -126.196786; captureRadius = 10; duration = 103; initialDepth = 795.888239; finalDepth = 790.122519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.549045 # Actual altitude: 50 # Commanded vehicle depth:795.888239 # Seafloor depth:-843.437284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.811966 meters # Minimum depth: 844.167059 meters looking forward 200.000000 meters along route # Maximum depth: 858.389094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.167059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334243; longitude = -126.198133; captureRadius = 10; duration = 103; initialDepth = 804.167059; finalDepth = 795.888239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.549045 # Actual altitude: 50 # Commanded vehicle depth:804.167059 # Seafloor depth:-851.694779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.812389 meters # Minimum depth: 852.388918 meters looking forward 200.000000 meters along route # Maximum depth: 872.914167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.388918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333991; longitude = -126.199481; captureRadius = 10; duration = 103; initialDepth = 812.388918; finalDepth = 804.167059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.52772 # Actual altitude: 50 # Commanded vehicle depth:812.388918 # Seafloor depth:-859.268983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.812812 meters # Minimum depth: 860.486875 meters looking forward 200.000000 meters along route # Maximum depth: 883.057923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.486875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333738; longitude = -126.200829; captureRadius = 10; duration = 103; initialDepth = 820.486875; finalDepth = 812.388918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0467599999999 # Actual altitude: 54.0467599999999 # Commanded vehicle depth:820.486875 # Seafloor depth:-874.533635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 129.71; MB_Bottom_Detect_Filter_Min_Depth = 27.02; MB_Bottom_Detect_Filter_Max_Depth = 129.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.813235 meters # Minimum depth: 876.111223 meters looking forward 200.000000 meters along route # Maximum depth: 892.489069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.111223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333485; longitude = -126.202177; captureRadius = 10; duration = 103; initialDepth = 836.111223; finalDepth = 820.486875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0467599999999 # Actual altitude: 54.0467599999999 # Commanded vehicle depth:836.111223 # Seafloor depth:-883.912288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 129.71; MB_Bottom_Detect_Filter_Min_Depth = 27.02; MB_Bottom_Detect_Filter_Max_Depth = 129.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.813657 meters # Minimum depth: 885.123387 meters looking forward 200.000000 meters along route # Maximum depth: 896.491892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.123387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333233; longitude = -126.203524; captureRadius = 10; duration = 103; initialDepth = 845.123387; finalDepth = 836.111223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3439520000001 # Actual altitude: 50 # Commanded vehicle depth:845.123387 # Seafloor depth:-893.467339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.905610 meters # Minimum depth: 893.906026 meters looking forward 200.000000 meters along route # Maximum depth: 902.504887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.906026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332980; longitude = -126.204872; captureRadius = 10; duration = 104; initialDepth = 853.906026; finalDepth = 845.123387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3439520000001 # Actual altitude: 50 # Commanded vehicle depth:853.906026 # Seafloor depth:-896.501467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.722973 meters # Minimum depth: 896.026793 meters looking forward 200.000000 meters along route # Maximum depth: 906.259796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.026793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332725; longitude = -126.206234; captureRadius = 10; duration = 102; initialDepth = 856.026793; finalDepth = 853.906026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.518379 # Actual altitude: 50 # Commanded vehicle depth:856.026793 # Seafloor depth:-902.545172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.814926 meters # Minimum depth: 902.926223 meters looking forward 200.000000 meters along route # Maximum depth: 911.423908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.926223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332474; longitude = -126.207567; captureRadius = 10; duration = 103; initialDepth = 862.926223; finalDepth = 856.026793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.518379 # Actual altitude: 50 # Commanded vehicle depth:862.926223 # Seafloor depth:-907.439921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.815348 meters # Minimum depth: 909.321571 meters looking forward 200.000000 meters along route # Maximum depth: 913.904428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.321571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332222; longitude = -126.208915; captureRadius = 10; duration = 103; initialDepth = 869.321571; finalDepth = 862.926223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.513698 # Actual altitude: 50 # Commanded vehicle depth:869.321571 # Seafloor depth:-912.029365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.815772 meters # Minimum depth: 912.184487 meters looking forward 200.000000 meters along route # Maximum depth: 914.435558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.184487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331969; longitude = -126.210263; captureRadius = 10; duration = 103; initialDepth = 872.184487; finalDepth = 869.321571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.707794 # Actual altitude: 50 # Commanded vehicle depth:872.184487 # Seafloor depth:-914.435558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.816194 meters # Minimum depth: 909.184652 meters looking forward 200.000000 meters along route # Maximum depth: 914.190213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.184652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331716; longitude = -126.211611; captureRadius = 10; duration = 103; initialDepth = 869.184652; finalDepth = 872.184487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.783866 # Actual altitude: 50 # Commanded vehicle depth:869.184652 # Seafloor depth:-911.968518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.816618 meters # Minimum depth: 908.570098 meters looking forward 200.000000 meters along route # Maximum depth: 911.586676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.570098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331464; longitude = -126.212958; captureRadius = 10; duration = 103; initialDepth = 868.570098; finalDepth = 869.184652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.783866 # Actual altitude: 50 # Commanded vehicle depth:868.570098 # Seafloor depth:-908.570098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.817040 meters # Minimum depth: 909.332335 meters looking forward 200.000000 meters along route # Maximum depth: 914.684361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.332335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331211; longitude = -126.214306; captureRadius = 10; duration = 103; initialDepth = 869.332335; finalDepth = 868.570098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.810319 # Actual altitude: 50 # Commanded vehicle depth:869.332335 # Seafloor depth:-911.142654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.909028 meters # Minimum depth: 911.784924 meters looking forward 200.000000 meters along route # Maximum depth: 921.965664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.784924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330958; longitude = -126.215654; captureRadius = 10; duration = 104; initialDepth = 871.784924; finalDepth = 869.332335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.120459 # Actual altitude: 50 # Commanded vehicle depth:871.784924 # Seafloor depth:-914.905383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.726322 meters # Minimum depth: 915.048847 meters looking forward 200.000000 meters along route # Maximum depth: 926.682342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.048847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330703; longitude = -126.217016; captureRadius = 10; duration = 102; initialDepth = 875.048847; finalDepth = 871.784924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0087589999999 # Actual altitude: 50 # Commanded vehicle depth:875.048847 # Seafloor depth:-922.057606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.818309 meters # Minimum depth: 923.042337 meters looking forward 200.000000 meters along route # Maximum depth: 934.375952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.042337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330453; longitude = -126.218349; captureRadius = 10; duration = 103; initialDepth = 883.042337; finalDepth = 875.048847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0087589999999 # Actual altitude: 50 # Commanded vehicle depth:883.042337 # Seafloor depth:-928.044935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.818732 meters # Minimum depth: 928.754683 meters looking forward 200.000000 meters along route # Maximum depth: 944.979961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.754683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330200; longitude = -126.219697; captureRadius = 10; duration = 103; initialDepth = 888.754683; finalDepth = 883.042337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.929246 # Actual altitude: 50 # Commanded vehicle depth:888.754683 # Seafloor depth:-934.683929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.819156 meters # Minimum depth: 935.418388 meters looking forward 200.000000 meters along route # Maximum depth: 947.286898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.418388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329948; longitude = -126.221045; captureRadius = 10; duration = 103; initialDepth = 895.418388; finalDepth = 888.754683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.434494 # Actual altitude: 50 # Commanded vehicle depth:895.418388 # Seafloor depth:-944.852882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.819578 meters # Minimum depth: 945.296905 meters looking forward 200.000000 meters along route # Maximum depth: 949.054727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.296905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329695; longitude = -126.222392; captureRadius = 10; duration = 103; initialDepth = 905.296905; finalDepth = 895.418388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.434494 # Actual altitude: 50 # Commanded vehicle depth:905.296905 # Seafloor depth:-947.072631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.820002 meters # Minimum depth: 947.096102 meters looking forward 200.000000 meters along route # Maximum depth: 955.004905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.096102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329442; longitude = -126.223740; captureRadius = 10; duration = 103; initialDepth = 907.096102; finalDepth = 905.296905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.263742 # Actual altitude: 50 # Commanded vehicle depth:907.096102 # Seafloor depth:-949.359844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.820425 meters # Minimum depth: 949.626171 meters looking forward 200.000000 meters along route # Maximum depth: 962.308038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.626171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329189; longitude = -126.225088; captureRadius = 10; duration = 103; initialDepth = 909.626171; finalDepth = 907.096102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1172319999999 # Actual altitude: 50 # Commanded vehicle depth:909.626171 # Seafloor depth:-955.743403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.912448 meters # Minimum depth: 956.641689 meters looking forward 200.000000 meters along route # Maximum depth: 973.694360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.641689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328937; longitude = -126.226436; captureRadius = 10; duration = 104; initialDepth = 916.641689; finalDepth = 909.626171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1172319999999 # Actual altitude: 50 # Commanded vehicle depth:916.641689 # Seafloor depth:-962.758332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.729671 meters # Minimum depth: 963.576591 meters looking forward 200.000000 meters along route # Maximum depth: 975.466933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.576591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328681; longitude = -126.227797; captureRadius = 10; duration = 102; initialDepth = 923.576591; finalDepth = 916.641689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.204034 # Actual altitude: 50.204034 # Commanded vehicle depth:923.576591 # Seafloor depth:-973.780625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.49; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.381551 meters # Minimum depth: 971.569452 meters looking forward 200.000000 meters along route # Maximum depth: 981.759399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.569452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328431; longitude = -126.229131; captureRadius = 10; duration = 100; initialDepth = 931.569452; finalDepth = 923.576591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.204034 # Actual altitude: 50.204034 # Commanded vehicle depth:931.569452 # Seafloor depth:-972.366095 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 120.49; MB_Bottom_Detect_Filter_Min_Depth = 25.10; MB_Bottom_Detect_Filter_Max_Depth = 120.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 57.254659 meters # Minimum depth: 971.569452 meters looking forward 200.000000 meters along route # Maximum depth: 992.937412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.569452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328187; longitude = -126.230434; captureRadius = 10; duration = 57; initialDepth = 931.569452; finalDepth = 931.569452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.380804 # Actual altitude: 50.380804 # Commanded vehicle depth:931.569452 # Seafloor depth:-981.950256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 120.91; MB_Bottom_Detect_Filter_Min_Depth = 25.19; MB_Bottom_Detect_Filter_Max_Depth = 120.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.392865 meters # Minimum depth: 979.806292 meters looking forward 200.000000 meters along route # Maximum depth: 1008.510821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.806292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327999; longitude = -126.231153; captureRadius = 10; duration = 107; initialDepth = 939.806292; finalDepth = 931.569452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.460414 # Actual altitude: 53.460414 # Commanded vehicle depth:939.806292 # Seafloor depth:-993.266706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 128.30; MB_Bottom_Detect_Filter_Min_Depth = 26.73; MB_Bottom_Detect_Filter_Max_Depth = 128.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.393453 meters # Minimum depth: 999.390455 meters looking forward 200.000000 meters along route # Maximum depth: 1033.666112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.390455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327645; longitude = -126.232500; captureRadius = 10; duration = 107; initialDepth = 959.390455; finalDepth = 939.806292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.460414 # Actual altitude: 53.460414 # Commanded vehicle depth:959.390455 # Seafloor depth:-1010.805957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 128.30; MB_Bottom_Detect_Filter_Min_Depth = 26.73; MB_Bottom_Detect_Filter_Max_Depth = 128.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.240539 meters # Minimum depth: 1015.596383 meters looking forward 200.000000 meters along route # Maximum depth: 1056.968502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.596383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327292; longitude = -126.233848; captureRadius = 10; duration = 110; initialDepth = 975.596383; finalDepth = 959.390455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5330070000001 # Actual altitude: 60.5330070000001 # Commanded vehicle depth:975.596383 # Seafloor depth:-1036.129390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 145.28; MB_Bottom_Detect_Filter_Min_Depth = 30.27; MB_Bottom_Detect_Filter_Max_Depth = 145.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.548132 meters # Minimum depth: 1041.040819 meters looking forward 200.000000 meters along route # Maximum depth: 1060.735906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.040819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326929; longitude = -126.235231; captureRadius = 10; duration = 104; initialDepth = 1001.040819; finalDepth = 975.596383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5330070000001 # Actual altitude: 60.5330070000001 # Commanded vehicle depth:1001.040819 # Seafloor depth:-1057.374771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 145.28; MB_Bottom_Detect_Filter_Min_Depth = 30.27; MB_Bottom_Detect_Filter_Max_Depth = 145.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.281323 meters # Minimum depth: 1056.203523 meters looking forward 200.000000 meters along route # Maximum depth: 1062.139534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.203523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326585; longitude = -126.236543; captureRadius = 10; duration = 100; initialDepth = 1016.203523; finalDepth = 1001.040819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.333952 # Actual altitude: 56.333952 # Commanded vehicle depth:1016.203523 # Seafloor depth:-1058.763949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 135.20; MB_Bottom_Detect_Filter_Min_Depth = 28.17; MB_Bottom_Detect_Filter_Max_Depth = 135.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.770094 meters # Minimum depth: 1056.203523 meters looking forward 200.000000 meters along route # Maximum depth: 1065.811366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.203523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326255; longitude = -126.237802; captureRadius = 10; duration = 103; initialDepth = 1016.203523; finalDepth = 1016.203523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.560426 # Actual altitude: 50 # Commanded vehicle depth:1016.203523 # Seafloor depth:-1056.591413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.061502 meters # Minimum depth: 1057.442307 meters looking forward 200.000000 meters along route # Maximum depth: 1067.582784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.442307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325914; longitude = -126.239104; captureRadius = 10; duration = 101; initialDepth = 1017.442307; finalDepth = 1016.203523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4557379999999 # Actual altitude: 50 # Commanded vehicle depth:1017.442307 # Seafloor depth:-1064.898045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.992040 meters # Minimum depth: 1064.039515 meters looking forward 200.000000 meters along route # Maximum depth: 1072.813688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.039515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325582; longitude = -126.240372; captureRadius = 10; duration = 102; initialDepth = 1024.039515; finalDepth = 1017.442307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4557379999999 # Actual altitude: 50 # Commanded vehicle depth:1024.039515 # Seafloor depth:-1068.041095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.397454 meters # Minimum depth: 1068.927681 meters looking forward 200.000000 meters along route # Maximum depth: 1072.926250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.927681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325243; longitude = -126.241665; captureRadius = 10; duration = 107; initialDepth = 1028.927681; finalDepth = 1024.039515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0015800000001 # Actual altitude: 50 # Commanded vehicle depth:1028.927681 # Seafloor depth:-1072.926250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.799641 meters # Minimum depth: 1066.655429 meters looking forward 200.000000 meters along route # Maximum depth: 1072.066419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.655429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324889; longitude = -126.243012; captureRadius = 10; duration = 103; initialDepth = 1026.655429; finalDepth = 1028.927681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.9985690000001 # Actual altitude: 50 # Commanded vehicle depth:1026.655429 # Seafloor depth:-1068.588587 # behavior reson { duration = RESON_DURATION; 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 82.331965 meters # Minimum depth: 1065.311301 meters looking forward 200.000000 meters along route # Maximum depth: 1069.234230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.311301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324548; longitude = -126.244315; captureRadius = 10; duration = 82; initialDepth = 1025.311301; finalDepth = 1026.655429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.933158 # Actual altitude: 50 # Commanded vehicle depth:1025.311301 # Seafloor depth:-1066.228027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.013600 meters # Minimum depth: 1062.881019 meters looking forward 200.000000 meters along route # Maximum depth: 1068.432354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.881019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324234; longitude = -126.245320; captureRadius = 10; duration = 109; initialDepth = 1022.881019; finalDepth = 1025.311301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0396230000001 # Actual altitude: 50 # Commanded vehicle depth:1022.881019 # Seafloor depth:-1066.920642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.942536 meters # Minimum depth: 1060.716952 meters looking forward 200.000000 meters along route # Maximum depth: 1067.736242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.716952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323818; longitude = -126.246651; captureRadius = 10; duration = 102; initialDepth = 1020.716952; finalDepth = 1022.881019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0396230000001 # Actual altitude: 50 # Commanded vehicle depth:1020.716952 # Seafloor depth:-1062.580063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.783227 meters # Minimum depth: 1055.886571 meters looking forward 200.000000 meters along route # Maximum depth: 1065.528514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.886571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323425; longitude = -126.247908; captureRadius = 10; duration = 106; initialDepth = 1015.886571; finalDepth = 1020.716952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.679183 # Actual altitude: 50 # Commanded vehicle depth:1015.886571 # Seafloor depth:-1060.565754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.382980 meters # Minimum depth: 1051.062673 meters looking forward 200.000000 meters along route # Maximum depth: 1061.884515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.062673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323018; longitude = -126.249212; captureRadius = 10; duration = 110; initialDepth = 1011.062673; finalDepth = 1015.886571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.355329 # Actual altitude: 50 # Commanded vehicle depth:1011.062673 # Seafloor depth:-1056.418002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.772764 meters # Minimum depth: 1051.062673 meters looking forward 200.000000 meters along route # Maximum depth: 1068.739646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.062673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.322597; longitude = -126.250560; captureRadius = 10; duration = 100; initialDepth = 1011.062673; finalDepth = 1011.062673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.355329 # Actual altitude: 50 # Commanded vehicle depth:1011.062673 # Seafloor depth:-1055.881211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.956797 meters # Minimum depth: 1056.156946 meters looking forward 200.000000 meters along route # Maximum depth: 1076.481884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.156946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.322212; longitude = -126.251790; captureRadius = 10; duration = 108; initialDepth = 1016.156946; finalDepth = 1011.062673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.660026 # Actual altitude: 52.660026 # Commanded vehicle depth:1016.156946 # Seafloor depth:-1068.816972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 126.38; MB_Bottom_Detect_Filter_Min_Depth = 26.33; MB_Bottom_Detect_Filter_Max_Depth = 126.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.005693 meters # Minimum depth: 1069.239008 meters looking forward 200.000000 meters along route # Maximum depth: 1084.870880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.239008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321797; longitude = -126.253120; captureRadius = 10; duration = 103; initialDepth = 1029.239008; finalDepth = 1016.156946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.660026 # Actual altitude: 52.660026 # Commanded vehicle depth:1029.239008 # Seafloor depth:-1076.907453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 126.38; MB_Bottom_Detect_Filter_Min_Depth = 26.33; MB_Bottom_Detect_Filter_Max_Depth = 126.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.726357 meters # Minimum depth: 1077.985559 meters looking forward 200.000000 meters along route # Maximum depth: 1085.362643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.985559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321404; longitude = -126.254378; captureRadius = 10; duration = 106; initialDepth = 1037.985559; finalDepth = 1029.239008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.668445 # Actual altitude: 50 # Commanded vehicle depth:1037.985559 # Seafloor depth:-1084.912308 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.386289 meters # Minimum depth: 1082.598142 meters looking forward 200.000000 meters along route # Maximum depth: 1089.191968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.598142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320997; longitude = -126.255681; captureRadius = 10; duration = 110; initialDepth = 1042.598142; finalDepth = 1037.985559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.926749 # Actual altitude: 50 # Commanded vehicle depth:1042.598142 # Seafloor depth:-1085.371782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.386978 meters # Minimum depth: 1084.997082 meters looking forward 200.000000 meters along route # Maximum depth: 1097.700608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.997082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320575; longitude = -126.257029; captureRadius = 10; duration = 110; initialDepth = 1044.997082; finalDepth = 1042.598142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.665397 # Actual altitude: 50 # Commanded vehicle depth:1044.997082 # Seafloor depth:-1089.662479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.387668 meters # Minimum depth: 1092.146318 meters looking forward 200.000000 meters along route # Maximum depth: 1104.876640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.146318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320154; longitude = -126.258376; captureRadius = 10; duration = 110; initialDepth = 1052.146318; finalDepth = 1044.997082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1811229999998 # Actual altitude: 50 # Commanded vehicle depth:1052.146318 # Seafloor depth:-1097.327441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.388357 meters # Minimum depth: 1097.046164 meters looking forward 200.000000 meters along route # Maximum depth: 1116.559810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.046164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319733; longitude = -126.259724; captureRadius = 10; duration = 110; initialDepth = 1057.046164; finalDepth = 1052.146318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.469961 # Actual altitude: 50 # Commanded vehicle depth:1057.046164 # Seafloor depth:-1105.516125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.389046 meters # Minimum depth: 1107.625730 meters looking forward 200.000000 meters along route # Maximum depth: 1124.468917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.625730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319312; longitude = -126.261072; captureRadius = 10; duration = 110; initialDepth = 1067.625730; finalDepth = 1057.046164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.303028 # Actual altitude: 50 # Commanded vehicle depth:1067.62573 # Seafloor depth:-1116.928758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.679299 meters # Minimum depth: 1117.201117 meters looking forward 200.000000 meters along route # Maximum depth: 1134.463394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.201117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318891; longitude = -126.262420; captureRadius = 10; duration = 106; initialDepth = 1077.201117; finalDepth = 1067.625730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.303028 # Actual altitude: 50 # Commanded vehicle depth:1077.201117 # Seafloor depth:-1125.408260 # behavior reson { duration = RESON_DURATION; 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 75.688870 meters # Minimum depth: 1124.468917 meters looking forward 200.000000 meters along route # Maximum depth: 1142.187569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.468917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318484; longitude = -126.263722; captureRadius = 10; duration = 75; initialDepth = 1084.468917; finalDepth = 1077.201117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.586045 # Actual altitude: 50.586045 # Commanded vehicle depth:1084.468917 # Seafloor depth:-1135.054962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 121.41; MB_Bottom_Detect_Filter_Min_Depth = 25.29; MB_Bottom_Detect_Filter_Max_Depth = 121.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.173214 meters # Minimum depth: 1134.076219 meters looking forward 200.000000 meters along route # Maximum depth: 1147.942833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.076219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318316; longitude = -126.264711; captureRadius = 10; duration = 103; initialDepth = 1094.076219; finalDepth = 1084.468917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.586045 # Actual altitude: 50.586045 # Commanded vehicle depth:1094.076219 # Seafloor depth:-1142.318024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 121.41; MB_Bottom_Detect_Filter_Min_Depth = 25.29; MB_Bottom_Detect_Filter_Max_Depth = 121.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.173598 meters # Minimum depth: 1142.520996 meters looking forward 200.000000 meters along route # Maximum depth: 1151.083875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.520996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318086; longitude = -126.266058; captureRadius = 10; duration = 103; initialDepth = 1102.520996; finalDepth = 1094.076219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2418049999999 # Actual altitude: 50 # Commanded vehicle depth:1102.520996 # Seafloor depth:-1147.899800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.173981 meters # Minimum depth: 1148.004269 meters looking forward 200.000000 meters along route # Maximum depth: 1158.355860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.004269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317856; longitude = -126.267406; captureRadius = 10; duration = 103; initialDepth = 1108.004269; finalDepth = 1102.520996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3788039999999 # Actual altitude: 50 # Commanded vehicle depth:1108.004269 # Seafloor depth:-1151.245725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.174364 meters # Minimum depth: 1151.505090 meters looking forward 200.000000 meters along route # Maximum depth: 1164.246676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.505090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317627; longitude = -126.268754; captureRadius = 10; duration = 103; initialDepth = 1111.505090; finalDepth = 1108.004269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.891754 # Actual altitude: 50 # Commanded vehicle depth:1111.50509 # Seafloor depth:-1158.396844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.174749 meters # Minimum depth: 1157.800646 meters looking forward 200.000000 meters along route # Maximum depth: 1179.116562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.800646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317397; longitude = -126.270102; captureRadius = 10; duration = 103; initialDepth = 1117.800646; finalDepth = 1111.505090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.613112 # Actual altitude: 50 # Commanded vehicle depth:1117.800646 # Seafloor depth:-1166.413758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.175131 meters # Minimum depth: 1167.977892 meters looking forward 200.000000 meters along route # Maximum depth: 1198.069784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.977892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317168; longitude = -126.271449; captureRadius = 10; duration = 103; initialDepth = 1127.977892; finalDepth = 1117.800646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8160389999998 # Actual altitude: 52.8160389999998 # Commanded vehicle depth:1127.977892 # Seafloor depth:-1180.793931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 126.76; MB_Bottom_Detect_Filter_Min_Depth = 26.41; MB_Bottom_Detect_Filter_Max_Depth = 126.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.175515 meters # Minimum depth: 1182.527534 meters looking forward 200.000000 meters along route # Maximum depth: 1215.056520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.527534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316938; longitude = -126.272797; captureRadius = 10; duration = 103; initialDepth = 1142.527534; finalDepth = 1127.977892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5171739999998 # Actual altitude: 56.5171739999998 # Commanded vehicle depth:1142.527534 # Seafloor depth:-1199.044708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 135.64; MB_Bottom_Detect_Filter_Min_Depth = 28.26; MB_Bottom_Detect_Filter_Max_Depth = 135.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.175899 meters # Minimum depth: 1200.567392 meters looking forward 200.000000 meters along route # Maximum depth: 1239.130034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.567392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316709; longitude = -126.274145; captureRadius = 10; duration = 103; initialDepth = 1160.567392; finalDepth = 1142.527534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1318020000001 # Actual altitude: 57.1318020000001 # Commanded vehicle depth:1160.567392 # Seafloor depth:-1217.699194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 137.12; MB_Bottom_Detect_Filter_Min_Depth = 28.57; MB_Bottom_Detect_Filter_Max_Depth = 137.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.176282 meters # Minimum depth: 1219.866443 meters looking forward 200.000000 meters along route # Maximum depth: 1266.072569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.866443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316479; longitude = -126.275492; captureRadius = 10; duration = 103; initialDepth = 1179.866443; finalDepth = 1160.567392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6131360000002 # Actual altitude: 61.6131360000002 # Commanded vehicle depth:1179.866443 # Seafloor depth:-1241.479579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 147.87; MB_Bottom_Detect_Filter_Min_Depth = 30.81; MB_Bottom_Detect_Filter_Max_Depth = 147.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.318890 meters # Minimum depth: 1243.759705 meters looking forward 200.000000 meters along route # Maximum depth: 1287.356764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.759705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316249; longitude = -126.276840; captureRadius = 10; duration = 106; initialDepth = 1203.759705; finalDepth = 1179.866443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.424548 # Actual altitude: 64.424548 # Commanded vehicle depth:1203.759705 # Seafloor depth:-1268.184253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 154.62; MB_Bottom_Detect_Filter_Min_Depth = 32.21; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.034826 meters # Minimum depth: 1270.606902 meters looking forward 200.000000 meters along route # Maximum depth: 1294.708872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.606902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316013; longitude = -126.278229; captureRadius = 10; duration = 100; initialDepth = 1230.606902; finalDepth = 1203.759705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.424548 # Actual altitude: 64.424548 # Commanded vehicle depth:1230.606902 # Seafloor depth:-1287.527111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 154.62; MB_Bottom_Detect_Filter_Min_Depth = 32.21; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.177433 meters # Minimum depth: 1287.922112 meters looking forward 200.000000 meters along route # Maximum depth: 1304.622080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.922112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315790; longitude = -126.279536; captureRadius = 10; duration = 103; initialDepth = 1247.922112; finalDepth = 1230.606902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9202090000001 # Actual altitude: 56.9202090000001 # Commanded vehicle depth:1247.922112 # Seafloor depth:-1294.657804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 136.61; MB_Bottom_Detect_Filter_Min_Depth = 28.46; MB_Bottom_Detect_Filter_Max_Depth = 136.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.177817 meters # Minimum depth: 1295.015028 meters looking forward 200.000000 meters along route # Maximum depth: 1311.745599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.015028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315561; longitude = -126.280883; captureRadius = 10; duration = 103; initialDepth = 1255.015028; finalDepth = 1247.922112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.624049 # Actual altitude: 50 # Commanded vehicle depth:1255.015028 # Seafloor depth:-1304.639077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.178201 meters # Minimum depth: 1305.085141 meters looking forward 200.000000 meters along route # Maximum depth: 1315.014408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.085141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315331; longitude = -126.282231; captureRadius = 10; duration = 103; initialDepth = 1265.085141; finalDepth = 1255.015028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.624049 # Actual altitude: 50 # Commanded vehicle depth:1265.085141 # Seafloor depth:-1311.985390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.178585 meters # Minimum depth: 1311.719542 meters looking forward 200.000000 meters along route # Maximum depth: 1315.385047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.719542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315101; longitude = -126.283579; captureRadius = 10; duration = 103; initialDepth = 1271.719542; finalDepth = 1265.085141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.900249 # Actual altitude: 50 # Commanded vehicle depth:1271.719542 # Seafloor depth:-1313.129442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.178968 meters # Minimum depth: 1313.080710 meters looking forward 200.000000 meters along route # Maximum depth: 1316.258945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1273.080710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314872; longitude = -126.284926; captureRadius = 10; duration = 103; initialDepth = 1273.080710; finalDepth = 1271.719542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8966390000001 # Actual altitude: 50 # Commanded vehicle depth:1273.08071 # Seafloor depth:-1314.977349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.179352 meters # Minimum depth: 1315.070218 meters looking forward 200.000000 meters along route # Maximum depth: 1317.731574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.070218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314642; longitude = -126.286274; captureRadius = 10; duration = 103; initialDepth = 1275.070218; finalDepth = 1273.080710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8966390000001 # Actual altitude: 50 # Commanded vehicle depth:1275.070218 # Seafloor depth:-1316.683387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.179736 meters # Minimum depth: 1316.222563 meters looking forward 200.000000 meters along route # Maximum depth: 1317.731574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.222563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314413; longitude = -126.287622; captureRadius = 10; duration = 103; initialDepth = 1276.222563; finalDepth = 1275.070218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.613169 # Actual altitude: 50 # Commanded vehicle depth:1276.222563 # Seafloor depth:-1316.447235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.598430 meters # Minimum depth: 1316.278314 meters looking forward 200.000000 meters along route # Maximum depth: 1319.659038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.278314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314183; longitude = -126.288970; captureRadius = 10; duration = 106; initialDepth = 1276.278314; finalDepth = 1276.222563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3101230000002 # Actual altitude: 50 # Commanded vehicle depth:1276.278314 # Seafloor depth:-1318.588437 # behavior reson { duration = RESON_DURATION; 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 7.177426 meters # Minimum depth: 1316.531681 meters looking forward 200.000000 meters along route # Maximum depth: 1320.101257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.531681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313946; longitude = -126.290362; captureRadius = 10; duration = 7; initialDepth = 1276.531681; finalDepth = 1276.278314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5695760000001 # Actual altitude: 50 # Commanded vehicle depth:1276.531681 # Seafloor depth:-1320.101257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.333499 meters # Minimum depth: 1317.075148 meters looking forward 200.000000 meters along route # Maximum depth: 1321.161200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.075148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313923; longitude = -126.290452; captureRadius = 10; duration = 107; initialDepth = 1277.075148; finalDepth = 1276.531681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5695760000001 # Actual altitude: 50 # Commanded vehicle depth:1277.075148 # Seafloor depth:-1320.397917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.334086 meters # Minimum depth: 1317.659312 meters looking forward 200.000000 meters along route # Maximum depth: 1323.365022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.659312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313571; longitude = -126.291800; captureRadius = 10; duration = 107; initialDepth = 1277.659312; finalDepth = 1277.075148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.861674 # Actual altitude: 50 # Commanded vehicle depth:1277.659312 # Seafloor depth:-1321.520986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.334672 meters # Minimum depth: 1322.248378 meters looking forward 200.000000 meters along route # Maximum depth: 1326.144301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1282.248378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313220; longitude = -126.293148; captureRadius = 10; duration = 107; initialDepth = 1282.248378; finalDepth = 1277.659312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.861674 # Actual altitude: 50 # Commanded vehicle depth:1282.248378 # Seafloor depth:-1323.599572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.979357 meters # Minimum depth: 1323.594295 meters looking forward 200.000000 meters along route # Maximum depth: 1329.515495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.594295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312869; longitude = -126.294495; captureRadius = 10; duration = 109; initialDepth = 1283.594295; finalDepth = 1282.248378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8259819999998 # Actual altitude: 50 # Commanded vehicle depth:1283.594295 # Seafloor depth:-1326.420277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.691746 meters # Minimum depth: 1326.190579 meters looking forward 200.000000 meters along route # Maximum depth: 1334.632808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.190579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312509; longitude = -126.295876; captureRadius = 10; duration = 104; initialDepth = 1286.190579; finalDepth = 1283.594295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.399885 # Actual altitude: 50 # Commanded vehicle depth:1286.190579 # Seafloor depth:-1329.590464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.211909 meters # Minimum depth: 1329.746283 meters looking forward 200.000000 meters along route # Maximum depth: 1340.197420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.746283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312166; longitude = -126.297191; captureRadius = 10; duration = 101; initialDepth = 1289.746283; finalDepth = 1286.190579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.056484 # Actual altitude: 50 # Commanded vehicle depth:1289.746283 # Seafloor depth:-1334.802767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.727810 meters # Minimum depth: 1335.001116 meters looking forward 200.000000 meters along route # Maximum depth: 1345.854739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.001116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311835; longitude = -126.298462; captureRadius = 10; duration = 102; initialDepth = 1295.001116; finalDepth = 1289.746283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6946130000001 # Actual altitude: 50 # Commanded vehicle depth:1295.001116 # Seafloor depth:-1340.695729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.337544 meters # Minimum depth: 1342.050184 meters looking forward 200.000000 meters along route # Maximum depth: 1353.208282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.050184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311499; longitude = -126.299751; captureRadius = 10; duration = 107; initialDepth = 1302.050184; finalDepth = 1295.001116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6946130000001 # Actual altitude: 50 # Commanded vehicle depth:1302.050184 # Seafloor depth:-1346.720976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.338131 meters # Minimum depth: 1348.532669 meters looking forward 200.000000 meters along route # Maximum depth: 1364.104724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.532669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311147; longitude = -126.301099; captureRadius = 10; duration = 107; initialDepth = 1308.532669; finalDepth = 1302.050184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.074869 # Actual altitude: 50 # Commanded vehicle depth:1308.532669 # Seafloor depth:-1353.607538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.338716 meters # Minimum depth: 1357.024961 meters looking forward 200.000000 meters along route # Maximum depth: 1370.759475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.024961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310796; longitude = -126.302447; captureRadius = 10; duration = 107; initialDepth = 1317.024961; finalDepth = 1308.532669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9023339999999 # Actual altitude: 50 # Commanded vehicle depth:1317.024961 # Seafloor depth:-1364.927295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.617398 meters # Minimum depth: 1366.195951 meters looking forward 200.000000 meters along route # Maximum depth: 1371.830735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1326.195951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310445; longitude = -126.303795; captureRadius = 10; duration = 110; initialDepth = 1326.195951; finalDepth = 1317.024961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9023339999999 # Actual altitude: 50 # Commanded vehicle depth:1326.195951 # Seafloor depth:-1370.583602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.061795 meters # Minimum depth: 1371.155665 meters looking forward 200.000000 meters along route # Maximum depth: 1373.471900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.155665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310083; longitude = -126.305183; captureRadius = 10; duration = 104; initialDepth = 1331.155665; finalDepth = 1326.195951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.387651 # Actual altitude: 50 # Commanded vehicle depth:1331.155665 # Seafloor depth:-1371.542105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.849626 meters # Minimum depth: 1371.820796 meters looking forward 200.000000 meters along route # Maximum depth: 1376.325692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.820796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309742; longitude = -126.306490; captureRadius = 10; duration = 101; initialDepth = 1331.820796; finalDepth = 1331.155665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7965469999999 # Actual altitude: 50 # Commanded vehicle depth:1331.820796 # Seafloor depth:-1374.617343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.097779 meters # Minimum depth: 1373.935261 meters looking forward 200.000000 meters along route # Maximum depth: 1378.172175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1333.935261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309409; longitude = -126.307769; captureRadius = 10; duration = 102; initialDepth = 1333.935261; finalDepth = 1331.820796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7965469999999 # Actual altitude: 50 # Commanded vehicle depth:1333.935261 # Seafloor depth:-1376.054548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.341590 meters # Minimum depth: 1375.482603 meters looking forward 200.000000 meters along route # Maximum depth: 1384.737744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.482603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309075; longitude = -126.309051; captureRadius = 10; duration = 107; initialDepth = 1335.482603; finalDepth = 1333.935261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.036245 # Actual altitude: 50 # Commanded vehicle depth:1335.482603 # Seafloor depth:-1378.518848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.342176 meters # Minimum depth: 1378.429319 meters looking forward 200.000000 meters along route # Maximum depth: 1389.786278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.429319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308724; longitude = -126.310398; captureRadius = 10; duration = 107; initialDepth = 1338.429319; finalDepth = 1335.482603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6849869999999 # Actual altitude: 50 # Commanded vehicle depth:1338.429319 # Seafloor depth:-1385.114306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.342763 meters # Minimum depth: 1384.210298 meters looking forward 200.000000 meters along route # Maximum depth: 1393.102981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.210298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308372; longitude = -126.311746; captureRadius = 10; duration = 107; initialDepth = 1344.210298; finalDepth = 1338.429319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6849869999999 # Actual altitude: 50 # Commanded vehicle depth:1344.210298 # Seafloor depth:-1389.641465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.343349 meters # Minimum depth: 1390.162140 meters looking forward 200.000000 meters along route # Maximum depth: 1396.907939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.162140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308021; longitude = -126.313094; captureRadius = 10; duration = 107; initialDepth = 1350.162140; finalDepth = 1344.210298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.431167 # Actual altitude: 50 # Commanded vehicle depth:1350.16214 # Seafloor depth:-1393.906182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.157434 meters # Minimum depth: 1394.052182 meters looking forward 200.000000 meters along route # Maximum depth: 1396.907939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.052182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307670; longitude = -126.314442; captureRadius = 10; duration = 100; initialDepth = 1354.052182; finalDepth = 1350.162140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.744042 # Actual altitude: 50 # Commanded vehicle depth:1354.052182 # Seafloor depth:-1395.367188 # behavior reson { duration = RESON_DURATION; 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 40.879002 meters # Minimum depth: 1394.052182 meters looking forward 200.000000 meters along route # Maximum depth: 1396.091507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.052182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307342; longitude = -126.315699; captureRadius = 10; duration = 40; initialDepth = 1354.052182; finalDepth = 1354.052182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8334690000002 # Actual altitude: 50 # Commanded vehicle depth:1354.052182 # Seafloor depth:-1395.885651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.262794 meters # Minimum depth: 1394.052182 meters looking forward 200.000000 meters along route # Maximum depth: 1400.726409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.052182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307180; longitude = -126.316194; captureRadius = 10; duration = 100; initialDepth = 1354.052182; finalDepth = 1354.052182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.056155 # Actual altitude: 50 # Commanded vehicle depth:1354.052182 # Seafloor depth:-1396.108337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.263377 meters # Minimum depth: 1396.280157 meters looking forward 200.000000 meters along route # Maximum depth: 1403.446411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.280157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306782; longitude = -126.317406; captureRadius = 10; duration = 100; initialDepth = 1356.280157; finalDepth = 1354.052182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.147011 # Actual altitude: 50 # Commanded vehicle depth:1356.280157 # Seafloor depth:-1400.427168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.263959 meters # Minimum depth: 1398.705028 meters looking forward 200.000000 meters along route # Maximum depth: 1408.047727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.705028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306385; longitude = -126.318619; captureRadius = 10; duration = 100; initialDepth = 1358.705028; finalDepth = 1356.280157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6639259999999 # Actual altitude: 50 # Commanded vehicle depth:1358.705028 # Seafloor depth:-1403.368954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.264543 meters # Minimum depth: 1403.211113 meters looking forward 200.000000 meters along route # Maximum depth: 1409.641692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.211113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305987; longitude = -126.319832; captureRadius = 10; duration = 100; initialDepth = 1363.211113; finalDepth = 1358.705028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8378659999998 # Actual altitude: 50 # Commanded vehicle depth:1363.211113 # Seafloor depth:-1409.048979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.265125 meters # Minimum depth: 1406.126962 meters looking forward 200.000000 meters along route # Maximum depth: 1409.641692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.126962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305589; longitude = -126.321045; captureRadius = 10; duration = 100; initialDepth = 1366.126962; finalDepth = 1363.211113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8378659999998 # Actual altitude: 50 # Commanded vehicle depth:1366.126962 # Seafloor depth:-1408.769188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.265708 meters # Minimum depth: 1401.521516 meters looking forward 200.000000 meters along route # Maximum depth: 1408.979692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.521516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305192; longitude = -126.322258; captureRadius = 10; duration = 100; initialDepth = 1361.521516; finalDepth = 1366.126962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.383221 # Actual altitude: 50 # Commanded vehicle depth:1361.521516 # Seafloor depth:-1405.904737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.266290 meters # Minimum depth: 1398.509376 meters looking forward 200.000000 meters along route # Maximum depth: 1406.817235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.509376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304794; longitude = -126.323471; captureRadius = 10; duration = 100; initialDepth = 1358.509376; finalDepth = 1361.521516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.383221 # Actual altitude: 50 # Commanded vehicle depth:1358.509376 # Seafloor depth:-1401.737518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.266873 meters # Minimum depth: 1398.254993 meters looking forward 200.000000 meters along route # Maximum depth: 1401.381968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.254993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304397; longitude = -126.324684; captureRadius = 10; duration = 100; initialDepth = 1358.254993; finalDepth = 1358.509376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2281419999999 # Actual altitude: 50 # Commanded vehicle depth:1358.254993 # Seafloor depth:-1398.254993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.267456 meters # Minimum depth: 1398.384557 meters looking forward 200.000000 meters along route # Maximum depth: 1401.374590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.384557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303999; longitude = -126.325897; captureRadius = 10; duration = 100; initialDepth = 1358.384557; finalDepth = 1358.254993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7305119999999 # Actual altitude: 50 # Commanded vehicle depth:1358.384557 # Seafloor depth:-1400.115069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.268039 meters # Minimum depth: 1400.347464 meters looking forward 200.000000 meters along route # Maximum depth: 1401.788037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.347464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303601; longitude = -126.327110; captureRadius = 10; duration = 100; initialDepth = 1360.347464; finalDepth = 1358.384557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7305119999999 # Actual altitude: 50 # Commanded vehicle depth:1360.347464 # Seafloor depth:-1400.861113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.511098 meters # Minimum depth: 1398.679381 meters looking forward 200.000000 meters along route # Maximum depth: 1401.951558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.679381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303204; longitude = -126.328323; captureRadius = 10; duration = 100; initialDepth = 1358.679381; finalDepth = 1360.347464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.796546 # Actual altitude: 50 # Commanded vehicle depth:1358.679381 # Seafloor depth:-1401.475927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.026728 meters # Minimum depth: 1398.679381 meters looking forward 200.000000 meters along route # Maximum depth: 1407.193529 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.679381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302805; longitude = -126.329539; captureRadius = 10; duration = 100; initialDepth = 1358.679381; finalDepth = 1358.679381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.283629 # Actual altitude: 50 # Commanded vehicle depth:1358.679381 # Seafloor depth:-1401.963010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.269787 meters # Minimum depth: 1402.759490 meters looking forward 200.000000 meters along route # Maximum depth: 1411.319476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.759490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302409; longitude = -126.330749; captureRadius = 10; duration = 100; initialDepth = 1362.759490; finalDepth = 1358.679381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6944020000001 # Actual altitude: 50 # Commanded vehicle depth:1362.75949 # Seafloor depth:-1407.453892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.270371 meters # Minimum depth: 1407.543489 meters looking forward 200.000000 meters along route # Maximum depth: 1421.623052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.543489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302011; longitude = -126.331962; captureRadius = 10; duration = 100; initialDepth = 1367.543489; finalDepth = 1362.759490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8481590000001 # Actual altitude: 50 # Commanded vehicle depth:1367.543489 # Seafloor depth:-1413.391648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.270952 meters # Minimum depth: 1414.099972 meters looking forward 200.000000 meters along route # Maximum depth: 1433.391636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.099972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301613; longitude = -126.333175; captureRadius = 10; duration = 100; initialDepth = 1374.099972; finalDepth = 1367.543489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2259759999999 # Actual altitude: 50 # Commanded vehicle depth:1374.099972 # Seafloor depth:-1422.325948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.271536 meters # Minimum depth: 1423.087759 meters looking forward 200.000000 meters along route # Maximum depth: 1441.630869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.087759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301216; longitude = -126.334388; captureRadius = 10; duration = 100; initialDepth = 1383.087759; finalDepth = 1374.099972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7411689999999 # Actual altitude: 50.7411689999999 # Commanded vehicle depth:1383.087759 # Seafloor depth:-1433.828928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 121.78; MB_Bottom_Detect_Filter_Min_Depth = 25.37; MB_Bottom_Detect_Filter_Max_Depth = 121.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.272119 meters # Minimum depth: 1434.479043 meters looking forward 200.000000 meters along route # Maximum depth: 1448.371444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.479043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300818; longitude = -126.335601; captureRadius = 10; duration = 100; initialDepth = 1394.479043; finalDepth = 1383.087759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7411689999999 # Actual altitude: 50.7411689999999 # Commanded vehicle depth:1394.479043 # Seafloor depth:-1442.635238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 121.78; MB_Bottom_Detect_Filter_Min_Depth = 25.37; MB_Bottom_Detect_Filter_Max_Depth = 121.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.272702 meters # Minimum depth: 1443.643932 meters looking forward 200.000000 meters along route # Maximum depth: 1458.865542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.643932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300420; longitude = -126.336814; captureRadius = 10; duration = 100; initialDepth = 1403.643932; finalDepth = 1394.479043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.156195 # Actual altitude: 50 # Commanded vehicle depth:1403.643932 # Seafloor depth:-1449.282893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.273284 meters # Minimum depth: 1450.603265 meters looking forward 200.000000 meters along route # Maximum depth: 1470.318869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.603265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300023; longitude = -126.338027; captureRadius = 10; duration = 100; initialDepth = 1410.603265; finalDepth = 1403.643932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.301455 # Actual altitude: 50 # Commanded vehicle depth:1410.603265 # Seafloor depth:-1459.904720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.273868 meters # Minimum depth: 1460.954830 meters looking forward 200.000000 meters along route # Maximum depth: 1480.984043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.954830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.299625; longitude = -126.339240; captureRadius = 10; duration = 100; initialDepth = 1420.954830; finalDepth = 1410.603265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.912274 # Actual altitude: 50.912274 # Commanded vehicle depth:1420.95483 # Seafloor depth:-1471.867104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.19; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.274450 meters # Minimum depth: 1473.634581 meters looking forward 200.000000 meters along route # Maximum depth: 1491.075398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1433.634581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.299228; longitude = -126.340452; captureRadius = 10; duration = 100; initialDepth = 1433.634581; finalDepth = 1420.954830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.912274 # Actual altitude: 50.912274 # Commanded vehicle depth:1433.634581 # Seafloor depth:-1482.272788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.19; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.685167 meters # Minimum depth: 1483.797302 meters looking forward 200.000000 meters along route # Maximum depth: 1505.659139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.797302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.298830; longitude = -126.341665; captureRadius = 10; duration = 107; initialDepth = 1443.797302; finalDepth = 1433.634581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.638207 # Actual altitude: 50 # Commanded vehicle depth:1443.797302 # Seafloor depth:-1492.414814 # behavior reson { duration = RESON_DURATION; 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 16 # Segment length 19.791067 meters # Minimum depth: 1485.513241 meters looking forward 200.000000 meters along route # Maximum depth: 1506.063385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.513241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.298403; longitude = -126.342968; captureRadius = 10; duration = 19; initialDepth = 1445.513241; finalDepth = 1443.797302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5501439999998 # Actual altitude: 60.5501439999998 # Commanded vehicle depth:1445.513241 # Seafloor depth:-1506.063385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 145.32; MB_Bottom_Detect_Filter_Min_Depth = 30.28; MB_Bottom_Detect_Filter_Max_Depth = 145.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.695124 meters # Minimum depth: 1492.591764 meters looking forward 200.000000 meters along route # Maximum depth: 1506.063385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.591764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.298534; longitude = -126.343148; captureRadius = 10; duration = 108; initialDepth = 1452.591764; finalDepth = 1445.513241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5501439999998 # Actual altitude: 60.5501439999998 # Commanded vehicle depth:1452.591764 # Seafloor depth:-1504.160693 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 145.32; MB_Bottom_Detect_Filter_Min_Depth = 30.28; MB_Bottom_Detect_Filter_Max_Depth = 145.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 42.623282 meters # Minimum depth: 1485.520188 meters looking forward 200.000000 meters along route # Maximum depth: 1506.063385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.520188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.299256; longitude = -126.344136; captureRadius = 10; duration = 42; initialDepth = 1445.520188; finalDepth = 1452.591764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.568929 # Actual altitude: 51.568929 # Commanded vehicle depth:1445.520188 # Seafloor depth:-1492.852661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 123.77; MB_Bottom_Detect_Filter_Min_Depth = 25.78; MB_Bottom_Detect_Filter_Max_Depth = 123.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.349245 meters # Minimum depth: 1468.138068 meters looking forward 200.000000 meters along route # Maximum depth: 1498.395530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.138068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.299495; longitude = -126.343687; captureRadius = 10; duration = 102; initialDepth = 1428.138068; finalDepth = 1445.520188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3338639999999 # Actual altitude: 55.3338639999999 # Commanded vehicle depth:1428.138068 # Seafloor depth:-1483.471932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.67; MB_Bottom_Detect_Filter_Max_Range = 132.80; MB_Bottom_Detect_Filter_Min_Depth = 27.67; MB_Bottom_Detect_Filter_Max_Depth = 132.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 103.342590 meters # Minimum depth: 1452.390976 meters looking forward 200.000000 meters along route # Maximum depth: 1480.896090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.390976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300069; longitude = -126.342609; captureRadius = 10; duration = 103; initialDepth = 1412.390976; finalDepth = 1428.138068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3338639999999 # Actual altitude: 55.3338639999999 # Commanded vehicle depth:1412.390976 # Seafloor depth:-1466.157601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.67; MB_Bottom_Detect_Filter_Max_Range = 132.80; MB_Bottom_Detect_Filter_Min_Depth = 27.67; MB_Bottom_Detect_Filter_Max_Depth = 132.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.353924 meters # Minimum depth: 1446.512913 meters looking forward 200.000000 meters along route # Maximum depth: 1465.071501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.512913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300649; longitude = -126.341520; captureRadius = 10; duration = 101; initialDepth = 1406.512913; finalDepth = 1412.390976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7666250000002 # Actual altitude: 53.7666250000002 # Commanded vehicle depth:1406.512913 # Seafloor depth:-1452.336132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 129.04; MB_Bottom_Detect_Filter_Min_Depth = 26.88; MB_Bottom_Detect_Filter_Max_Depth = 129.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.347269 meters # Minimum depth: 1441.697676 meters looking forward 200.000000 meters along route # Maximum depth: 1451.586361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.697676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301217; longitude = -126.340452; captureRadius = 10; duration = 102; initialDepth = 1401.697676; finalDepth = 1406.512913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8232189999999 # Actual altitude: 50 # Commanded vehicle depth:1401.697676 # Seafloor depth:-1447.109921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.346610 meters # Minimum depth: 1437.730192 meters looking forward 200.000000 meters along route # Maximum depth: 1446.909993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.730192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301791; longitude = -126.339374; captureRadius = 10; duration = 102; initialDepth = 1397.730192; finalDepth = 1401.697676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.412245 # Actual altitude: 50 # Commanded vehicle depth:1397.730192 # Seafloor depth:-1441.452244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.409191 meters # Minimum depth: 1423.420220 meters looking forward 200.000000 meters along route # Maximum depth: 1441.053672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.420220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302366; longitude = -126.338296; captureRadius = 10; duration = 102; initialDepth = 1383.420220; finalDepth = 1397.730192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0170860000001 # Actual altitude: 53.0170860000001 # Commanded vehicle depth:1383.42022 # Seafloor depth:-1436.437306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 127.24; MB_Bottom_Detect_Filter_Min_Depth = 26.51; MB_Bottom_Detect_Filter_Max_Depth = 127.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.282054 meters # Minimum depth: 1404.566077 meters looking forward 200.000000 meters along route # Maximum depth: 1435.793532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.566077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302940; longitude = -126.337217; captureRadius = 10; duration = 102; initialDepth = 1364.566077; finalDepth = 1383.420220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.845069 # Actual altitude: 58.845069 # Commanded vehicle depth:1364.566077 # Seafloor depth:-1423.411146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 141.23; MB_Bottom_Detect_Filter_Min_Depth = 29.42; MB_Bottom_Detect_Filter_Max_Depth = 141.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.344635 meters # Minimum depth: 1392.500954 meters looking forward 200.000000 meters along route # Maximum depth: 1421.644444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.500954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303514; longitude = -126.336140; captureRadius = 10; duration = 102; initialDepth = 1352.500954; finalDepth = 1364.566077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.845069 # Actual altitude: 58.845069 # Commanded vehicle depth:1352.500954 # Seafloor depth:-1403.435668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 141.23; MB_Bottom_Detect_Filter_Min_Depth = 29.42; MB_Bottom_Detect_Filter_Max_Depth = 141.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.343977 meters # Minimum depth: 1382.211014 meters looking forward 200.000000 meters along route # Maximum depth: 1401.811998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1342.211014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304088; longitude = -126.335062; captureRadius = 10; duration = 102; initialDepth = 1342.211014; finalDepth = 1352.500954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.934714 # Actual altitude: 50.934714 # Commanded vehicle depth:1342.211014 # Seafloor depth:-1391.080185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 122.24; MB_Bottom_Detect_Filter_Min_Depth = 25.47; MB_Bottom_Detect_Filter_Max_Depth = 122.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.343318 meters # Minimum depth: 1372.630253 meters looking forward 200.000000 meters along route # Maximum depth: 1389.783361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.630253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304662; longitude = -126.333983; captureRadius = 10; duration = 102; initialDepth = 1332.630253; finalDepth = 1342.211014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.912705 # Actual altitude: 50 # Commanded vehicle depth:1332.630253 # Seafloor depth:-1381.542958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.342659 meters # Minimum depth: 1364.659371 meters looking forward 200.000000 meters along route # Maximum depth: 1381.026799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.659371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305236; longitude = -126.332905; captureRadius = 10; duration = 102; initialDepth = 1324.659371; finalDepth = 1332.630253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.912705 # Actual altitude: 50 # Commanded vehicle depth:1324.659371 # Seafloor depth:-1372.562595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.342001 meters # Minimum depth: 1356.456687 meters looking forward 200.000000 meters along route # Maximum depth: 1371.792324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.456687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305810; longitude = -126.331827; captureRadius = 10; duration = 102; initialDepth = 1316.456687; finalDepth = 1324.659371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9032240000001 # Actual altitude: 50 # Commanded vehicle depth:1316.456687 # Seafloor depth:-1363.922871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.341343 meters # Minimum depth: 1352.352788 meters looking forward 200.000000 meters along route # Maximum depth: 1363.041163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1312.352788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306384; longitude = -126.330749; captureRadius = 10; duration = 102; initialDepth = 1312.352788; finalDepth = 1316.456687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4661839999999 # Actual altitude: 50 # Commanded vehicle depth:1312.352788 # Seafloor depth:-1356.256684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.340684 meters # Minimum depth: 1352.352788 meters looking forward 200.000000 meters along route # Maximum depth: 1360.893061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1312.352788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306958; longitude = -126.329671; captureRadius = 10; duration = 102; initialDepth = 1312.352788; finalDepth = 1312.352788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7785230000002 # Actual altitude: 50 # Commanded vehicle depth:1312.352788 # Seafloor depth:-1357.131311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.340026 meters # Minimum depth: 1357.714815 meters looking forward 200.000000 meters along route # Maximum depth: 1366.031081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.714815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307532; longitude = -126.328593; captureRadius = 10; duration = 102; initialDepth = 1317.714815; finalDepth = 1312.352788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7785230000002 # Actual altitude: 50 # Commanded vehicle depth:1317.714815 # Seafloor depth:-1360.988879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.339367 meters # Minimum depth: 1361.775148 meters looking forward 200.000000 meters along route # Maximum depth: 1368.929072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.775148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308106; longitude = -126.327514; captureRadius = 10; duration = 102; initialDepth = 1321.775148; finalDepth = 1317.714815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7117660000001 # Actual altitude: 50 # Commanded vehicle depth:1321.775148 # Seafloor depth:-1366.486914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.338709 meters # Minimum depth: 1367.208509 meters looking forward 200.000000 meters along route # Maximum depth: 1369.759289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.208509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308680; longitude = -126.326436; captureRadius = 10; duration = 102; initialDepth = 1327.208509; finalDepth = 1321.775148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7117660000001 # Actual altitude: 50 # Commanded vehicle depth:1327.208509 # Seafloor depth:-1367.208509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.338050 meters # Minimum depth: 1367.380187 meters looking forward 200.000000 meters along route # Maximum depth: 1370.659898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.380187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309255; longitude = -126.325358; captureRadius = 10; duration = 102; initialDepth = 1327.380187; finalDepth = 1327.208509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.403108 # Actual altitude: 50 # Commanded vehicle depth:1327.380187 # Seafloor depth:-1367.783295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.337392 meters # Minimum depth: 1367.380187 meters looking forward 200.000000 meters along route # Maximum depth: 1371.254213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.380187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309829; longitude = -126.324280; captureRadius = 10; duration = 102; initialDepth = 1327.380187; finalDepth = 1327.380187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.3273180000001 # Actual altitude: 50 # Commanded vehicle depth:1327.380187 # Seafloor depth:-1370.707505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.336734 meters # Minimum depth: 1368.892690 meters looking forward 200.000000 meters along route # Maximum depth: 1372.242312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1328.892690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310403; longitude = -126.323202; captureRadius = 10; duration = 102; initialDepth = 1328.892690; finalDepth = 1327.380187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.3273180000001 # Actual altitude: 50 # Commanded vehicle depth:1328.89269 # Seafloor depth:-1371.335584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.915436 meters # Minimum depth: 1365.980227 meters looking forward 200.000000 meters along route # Maximum depth: 1372.242312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.980227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310977; longitude = -126.322124; captureRadius = 10; duration = 104; initialDepth = 1325.980227; finalDepth = 1328.892690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6334300000001 # Actual altitude: 50 # Commanded vehicle depth:1325.980227 # Seafloor depth:-1370.613657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.041868 meters # Minimum depth: 1365.980227 meters looking forward 200.000000 meters along route # Maximum depth: 1371.188919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.980227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311565; longitude = -126.321018; captureRadius = 10; duration = 104; initialDepth = 1325.980227; finalDepth = 1325.980227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6334300000001 # Actual altitude: 50 # Commanded vehicle depth:1325.980227 # Seafloor depth:-1366.563902 # behavior reson { duration = RESON_DURATION; 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 69.371937 meters # Minimum depth: 1366.068978 meters looking forward 200.000000 meters along route # Maximum depth: 1376.630696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1326.068978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312149; longitude = -126.319922; captureRadius = 10; duration = 69; initialDepth = 1326.068978; finalDepth = 1325.980227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.069297 # Actual altitude: 50 # Commanded vehicle depth:1326.068978 # Seafloor depth:-1368.138275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.084210 meters # Minimum depth: 1368.138275 meters looking forward 200.000000 meters along route # Maximum depth: 1378.215516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1328.138275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312323; longitude = -126.319024; captureRadius = 10; duration = 104; initialDepth = 1328.138275; finalDepth = 1326.068978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.519131 # Actual altitude: 50 # Commanded vehicle depth:1328.138275 # Seafloor depth:-1376.657406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.083771 meters # Minimum depth: 1376.115279 meters looking forward 200.000000 meters along route # Maximum depth: 1379.589178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1336.115279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312583; longitude = -126.317676; captureRadius = 10; duration = 104; initialDepth = 1336.115279; finalDepth = 1328.138275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.519131 # Actual altitude: 50 # Commanded vehicle depth:1336.115279 # Seafloor depth:-1378.573876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.083334 meters # Minimum depth: 1376.599725 meters looking forward 200.000000 meters along route # Maximum depth: 1381.485496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1336.599725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312843; longitude = -126.316328; captureRadius = 10; duration = 104; initialDepth = 1336.599725; finalDepth = 1336.115279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5458140000001 # Actual altitude: 50 # Commanded vehicle depth:1336.599725 # Seafloor depth:-1380.145539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.082895 meters # Minimum depth: 1375.432835 meters looking forward 200.000000 meters along route # Maximum depth: 1381.485496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.432835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313104; longitude = -126.314981; captureRadius = 10; duration = 104; initialDepth = 1335.432835; finalDepth = 1336.599725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5458140000001 # Actual altitude: 50 # Commanded vehicle depth:1335.432835 # Seafloor depth:-1377.991832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.082458 meters # Minimum depth: 1375.432835 meters looking forward 200.000000 meters along route # Maximum depth: 1378.179771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.432835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313364; longitude = -126.313633; captureRadius = 10; duration = 104; initialDepth = 1335.432835; finalDepth = 1335.432835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5589969999999 # Actual altitude: 50 # Commanded vehicle depth:1335.432835 # Seafloor depth:-1377.299152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.082020 meters # Minimum depth: 1375.894772 meters looking forward 200.000000 meters along route # Maximum depth: 1378.792697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.894772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313625; longitude = -126.312285; captureRadius = 10; duration = 104; initialDepth = 1335.894772; finalDepth = 1335.432835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5247669999999 # Actual altitude: 50 # Commanded vehicle depth:1335.894772 # Seafloor depth:-1378.419539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.081582 meters # Minimum depth: 1375.915126 meters looking forward 200.000000 meters along route # Maximum depth: 1378.792697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.915126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313885; longitude = -126.310937; captureRadius = 10; duration = 104; initialDepth = 1335.915126; finalDepth = 1335.894772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5247669999999 # Actual altitude: 50 # Commanded vehicle depth:1335.915126 # Seafloor depth:-1376.009613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.081144 meters # Minimum depth: 1374.384613 meters looking forward 200.000000 meters along route # Maximum depth: 1376.628532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.384613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314146; longitude = -126.309590; captureRadius = 10; duration = 104; initialDepth = 1334.384613; finalDepth = 1335.915126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.392374 # Actual altitude: 50 # Commanded vehicle depth:1334.384613 # Seafloor depth:-1375.776987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.080706 meters # Minimum depth: 1370.026965 meters looking forward 200.000000 meters along route # Maximum depth: 1375.791475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.026965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314406; longitude = -126.308242; captureRadius = 10; duration = 104; initialDepth = 1330.026965; finalDepth = 1334.384613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4557560000001 # Actual altitude: 50 # Commanded vehicle depth:1330.026965 # Seafloor depth:-1375.482721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.170996 meters # Minimum depth: 1366.217746 meters looking forward 200.000000 meters along route # Maximum depth: 1375.075784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1326.217746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314666; longitude = -126.306894; captureRadius = 10; duration = 107; initialDepth = 1326.217746; finalDepth = 1330.026965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4557560000001 # Actual altitude: 50 # Commanded vehicle depth:1326.217746 # Seafloor depth:-1370.000470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.989103 meters # Minimum depth: 1361.128999 meters looking forward 200.000000 meters along route # Maximum depth: 1369.772298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.128999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314935; longitude = -126.305507; captureRadius = 10; duration = 100; initialDepth = 1321.128999; finalDepth = 1326.217746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0201890000001 # Actual altitude: 50 # Commanded vehicle depth:1321.128999 # Seafloor depth:-1366.149188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.079393 meters # Minimum depth: 1353.039063 meters looking forward 200.000000 meters along route # Maximum depth: 1365.991554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.039063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315187; longitude = -126.304199; captureRadius = 10; duration = 104; initialDepth = 1313.039063; finalDepth = 1321.128999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5291070000001 # Actual altitude: 50 # Commanded vehicle depth:1313.039063 # Seafloor depth:-1360.568170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.078955 meters # Minimum depth: 1348.850910 meters looking forward 200.000000 meters along route # Maximum depth: 1359.897398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.850910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315448; longitude = -126.302851; captureRadius = 10; duration = 104; initialDepth = 1308.850910; finalDepth = 1313.039063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5291070000001 # Actual altitude: 50 # Commanded vehicle depth:1308.85091 # Seafloor depth:-1351.868610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.078517 meters # Minimum depth: 1342.524341 meters looking forward 200.000000 meters along route # Maximum depth: 1351.032975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.524341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315708; longitude = -126.301503; captureRadius = 10; duration = 104; initialDepth = 1302.524341; finalDepth = 1308.850910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.421188 # Actual altitude: 50 # Commanded vehicle depth:1302.524341 # Seafloor depth:-1347.945529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.078080 meters # Minimum depth: 1334.066105 meters looking forward 200.000000 meters along route # Maximum depth: 1347.025184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.066105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315969; longitude = -126.300156; captureRadius = 10; duration = 104; initialDepth = 1294.066105; finalDepth = 1302.524341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7215279999998 # Actual altitude: 50 # Commanded vehicle depth:1294.066105 # Seafloor depth:-1341.787633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.077642 meters # Minimum depth: 1323.264964 meters looking forward 200.000000 meters along route # Maximum depth: 1340.741922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1283.264964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316229; longitude = -126.298808; captureRadius = 10; duration = 104; initialDepth = 1283.264964; finalDepth = 1294.066105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6921420000001 # Actual altitude: 50 # Commanded vehicle depth:1283.264964 # Seafloor depth:-1332.957106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.077205 meters # Minimum depth: 1312.420708 meters looking forward 200.000000 meters along route # Maximum depth: 1332.207337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.420708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316489; longitude = -126.297460; captureRadius = 10; duration = 104; initialDepth = 1272.420708; finalDepth = 1283.264964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7312179999999 # Actual altitude: 50 # Commanded vehicle depth:1272.420708 # Seafloor depth:-1322.151926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.076766 meters # Minimum depth: 1300.290648 meters looking forward 200.000000 meters along route # Maximum depth: 1321.167943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1260.290648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316750; longitude = -126.296113; captureRadius = 10; duration = 104; initialDepth = 1260.290648; finalDepth = 1272.420708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.388424 # Actual altitude: 51.388424 # Commanded vehicle depth:1260.290648 # Seafloor depth:-1311.679072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 123.33; MB_Bottom_Detect_Filter_Min_Depth = 25.69; MB_Bottom_Detect_Filter_Max_Depth = 123.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.076330 meters # Minimum depth: 1288.368447 meters looking forward 200.000000 meters along route # Maximum depth: 1310.940475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.368447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317010; longitude = -126.294765; captureRadius = 10; duration = 104; initialDepth = 1248.368447; finalDepth = 1260.290648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.388424 # Actual altitude: 51.388424 # Commanded vehicle depth:1248.368447 # Seafloor depth:-1298.096149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 123.33; MB_Bottom_Detect_Filter_Min_Depth = 25.69; MB_Bottom_Detect_Filter_Max_Depth = 123.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 107.580655 meters # Minimum depth: 1276.994349 meters looking forward 200.000000 meters along route # Maximum depth: 1294.320910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.994349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317271; longitude = -126.293417; captureRadius = 10; duration = 107; initialDepth = 1236.994349; finalDepth = 1248.368447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.319839 # Actual altitude: 50.319839 # Commanded vehicle depth:1236.994349 # Seafloor depth:-1287.314188 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.77; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 31.731285 meters # Minimum depth: 1276.994349 meters looking forward 200.000000 meters along route # Maximum depth: 1291.341117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.994349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317540; longitude = -126.292024; captureRadius = 10; duration = 31; initialDepth = 1236.994349; finalDepth = 1236.994349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.319839 # Actual altitude: 50.319839 # Commanded vehicle depth:1236.994349 # Seafloor depth:-1278.012329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 120.77; MB_Bottom_Detect_Filter_Min_Depth = 25.16; MB_Bottom_Detect_Filter_Max_Depth = 120.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.230067 meters # Minimum depth: 1273.186726 meters looking forward 200.000000 meters along route # Maximum depth: 1279.392207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.186726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317695; longitude = -126.291665; captureRadius = 10; duration = 107; initialDepth = 1233.186726; finalDepth = 1236.994349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0383590000001 # Actual altitude: 50 # Commanded vehicle depth:1233.186726 # Seafloor depth:-1276.225085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.229342 meters # Minimum depth: 1273.186726 meters looking forward 200.000000 meters along route # Maximum depth: 1278.387363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.186726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318220; longitude = -126.290452; captureRadius = 10; duration = 107; initialDepth = 1233.186726; finalDepth = 1233.186726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0383590000001 # Actual altitude: 50 # Commanded vehicle depth:1233.186726 # Seafloor depth:-1274.548906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.228617 meters # Minimum depth: 1275.024648 meters looking forward 200.000000 meters along route # Maximum depth: 1278.972962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.024648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318745; longitude = -126.289239; captureRadius = 10; duration = 107; initialDepth = 1235.024648; finalDepth = 1233.186726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.3605359999999 # Actual altitude: 50 # Commanded vehicle depth:1235.024648 # Seafloor depth:-1278.385184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.227893 meters # Minimum depth: 1276.580283 meters looking forward 200.000000 meters along route # Maximum depth: 1278.972962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.580283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319269; longitude = -126.288026; captureRadius = 10; duration = 107; initialDepth = 1236.580283; finalDepth = 1235.024648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.3605359999999 # Actual altitude: 50 # Commanded vehicle depth:1236.580283 # Seafloor depth:-1277.264652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.658794 meters # Minimum depth: 1276.580283 meters looking forward 200.000000 meters along route # Maximum depth: 1278.808453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.580283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319794; longitude = -126.286813; captureRadius = 10; duration = 108; initialDepth = 1236.580283; finalDepth = 1236.580283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3122759999999 # Actual altitude: 50 # Commanded vehicle depth:1236.580283 # Seafloor depth:-1277.892559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.176955 meters # Minimum depth: 1274.717644 meters looking forward 200.000000 meters along route # Maximum depth: 1278.808453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.717644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320326; longitude = -126.285584; captureRadius = 10; duration = 110; initialDepth = 1234.717644; finalDepth = 1236.580283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0180639999999 # Actual altitude: 50 # Commanded vehicle depth:1234.717644 # Seafloor depth:-1277.735708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.843583 meters # Minimum depth: 1273.281532 meters looking forward 200.000000 meters along route # Maximum depth: 1276.742983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.281532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320865; longitude = -126.284338; captureRadius = 10; duration = 102; initialDepth = 1233.281532; finalDepth = 1234.717644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0180639999999 # Actual altitude: 50 # Commanded vehicle depth:1233.281532 # Seafloor depth:-1274.325481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.224995 meters # Minimum depth: 1270.900234 meters looking forward 200.000000 meters along route # Maximum depth: 1275.400310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.900234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321368; longitude = -126.283174; captureRadius = 10; duration = 107; initialDepth = 1230.900234; finalDepth = 1233.281532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.33836 # Actual altitude: 50 # Commanded vehicle depth:1230.900234 # Seafloor depth:-1274.238594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.224271 meters # Minimum depth: 1263.837949 meters looking forward 200.000000 meters along route # Maximum depth: 1274.042215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.837949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321892; longitude = -126.281961; captureRadius = 10; duration = 107; initialDepth = 1223.837949; finalDepth = 1230.900234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3296310000001 # Actual altitude: 50 # Commanded vehicle depth:1223.837949 # Seafloor depth:-1270.167580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.223546 meters # Minimum depth: 1252.896883 meters looking forward 200.000000 meters along route # Maximum depth: 1268.931472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.896883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.322417; longitude = -126.280749; captureRadius = 10; duration = 107; initialDepth = 1212.896883; finalDepth = 1223.837949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4409350000001 # Actual altitude: 50 # Commanded vehicle depth:1212.896883 # Seafloor depth:-1262.337818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.222821 meters # Minimum depth: 1251.230996 meters looking forward 200.000000 meters along route # Maximum depth: 1259.934743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.230996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.322942; longitude = -126.279536; captureRadius = 10; duration = 107; initialDepth = 1211.230996; finalDepth = 1212.896883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4409350000001 # Actual altitude: 50 # Commanded vehicle depth:1211.230996 # Seafloor depth:-1252.157393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.763435 meters # Minimum depth: 1246.604780 meters looking forward 200.000000 meters along route # Maximum depth: 1253.581973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.604780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323466; longitude = -126.278323; captureRadius = 10; duration = 101; initialDepth = 1206.604780; finalDepth = 1211.230996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6040330000001 # Actual altitude: 50 # Commanded vehicle depth:1206.60478 # Seafloor depth:-1251.208813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.766585 meters # Minimum depth: 1243.944990 meters looking forward 200.000000 meters along route # Maximum depth: 1251.023991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.944990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323964; longitude = -126.277171; captureRadius = 10; duration = 100; initialDepth = 1203.944990; finalDepth = 1206.604780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6040330000001 # Actual altitude: 50 # Commanded vehicle depth:1203.94499 # Seafloor depth:-1246.647954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.220729 meters # Minimum depth: 1238.415637 meters looking forward 200.000000 meters along route # Maximum depth: 1246.482857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.415637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324457; longitude = -126.276032; captureRadius = 10; duration = 107; initialDepth = 1198.415637; finalDepth = 1203.944990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2009739999999 # Actual altitude: 50 # Commanded vehicle depth:1198.415637 # Seafloor depth:-1243.616611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.220005 meters # Minimum depth: 1236.640302 meters looking forward 200.000000 meters along route # Maximum depth: 1242.607836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.640302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324982; longitude = -126.274819; captureRadius = 10; duration = 107; initialDepth = 1196.640302; finalDepth = 1198.415637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2009739999999 # Actual altitude: 50 # Commanded vehicle depth:1196.640302 # Seafloor depth:-1237.938266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.219280 meters # Minimum depth: 1231.218641 meters looking forward 200.000000 meters along route # Maximum depth: 1237.363794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.218641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325507; longitude = -126.273606; captureRadius = 10; duration = 107; initialDepth = 1191.218641; finalDepth = 1196.640302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.696747 # Actual altitude: 50 # Commanded vehicle depth:1191.218641 # Seafloor depth:-1235.915388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.882605 meters # Minimum depth: 1225.593838 meters looking forward 200.000000 meters along route # Maximum depth: 1235.037697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.593838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326031; longitude = -126.272393; captureRadius = 10; duration = 100; initialDepth = 1185.593838; finalDepth = 1191.218641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.068526 # Actual altitude: 50 # Commanded vehicle depth:1185.593838 # Seafloor depth:-1230.662364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.640726 meters # Minimum depth: 1220.760267 meters looking forward 200.000000 meters along route # Maximum depth: 1230.033598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.760267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326525; longitude = -126.271251; captureRadius = 10; duration = 101; initialDepth = 1180.760267; finalDepth = 1185.593838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.068526 # Actual altitude: 50 # Commanded vehicle depth:1180.760267 # Seafloor depth:-1225.333900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.217187 meters # Minimum depth: 1218.072033 meters looking forward 200.000000 meters along route # Maximum depth: 1224.483952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.072033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327022; longitude = -126.270102; captureRadius = 10; duration = 107; initialDepth = 1178.072033; finalDepth = 1180.760267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.573633 # Actual altitude: 50 # Commanded vehicle depth:1178.072033 # Seafloor depth:-1220.241914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.216463 meters # Minimum depth: 1217.873220 meters looking forward 200.000000 meters along route # Maximum depth: 1219.254293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1177.873220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327547; longitude = -126.268889; captureRadius = 10; duration = 107; initialDepth = 1177.873220; finalDepth = 1178.072033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.169881 # Actual altitude: 50 # Commanded vehicle depth:1177.87322 # Seafloor depth:-1217.873220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.215740 meters # Minimum depth: 1211.355849 meters looking forward 200.000000 meters along route # Maximum depth: 1218.768848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.355849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328072; longitude = -126.267676; captureRadius = 10; duration = 107; initialDepth = 1171.355849; finalDepth = 1177.873220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.050236 # Actual altitude: 50 # Commanded vehicle depth:1171.355849 # Seafloor depth:-1218.406085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.001833 meters # Minimum depth: 1204.622948 meters looking forward 200.000000 meters along route # Maximum depth: 1218.606727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.622948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328596; longitude = -126.266463; captureRadius = 10; duration = 100; initialDepth = 1164.622948; finalDepth = 1171.355849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.050236 # Actual altitude: 50 # Commanded vehicle depth:1164.622948 # Seafloor depth:-1210.431486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.514809 meters # Minimum depth: 1204.622948 meters looking forward 200.000000 meters along route # Maximum depth: 1209.496780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.622948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329086; longitude = -126.265331; captureRadius = 10; duration = 102; initialDepth = 1164.622948; finalDepth = 1164.622948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.808538 # Actual altitude: 50 # Commanded vehicle depth:1164.622948 # Seafloor depth:-1205.003890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.213646 meters # Minimum depth: 1202.152904 meters looking forward 200.000000 meters along route # Maximum depth: 1207.432950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.152904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329587; longitude = -126.264172; captureRadius = 10; duration = 107; initialDepth = 1162.152904; finalDepth = 1164.622948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.242589 # Actual altitude: 50 # Commanded vehicle depth:1162.152904 # Seafloor depth:-1207.395493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.212923 meters # Minimum depth: 1192.613713 meters looking forward 200.000000 meters along route # Maximum depth: 1206.859074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.613713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330112; longitude = -126.262959; captureRadius = 10; duration = 107; initialDepth = 1152.613713; finalDepth = 1162.152904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.425798 # Actual altitude: 50 # Commanded vehicle depth:1152.613713 # Seafloor depth:-1201.039511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.212198 meters # Minimum depth: 1170.834676 meters looking forward 200.000000 meters along route # Maximum depth: 1199.379362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.834676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330637; longitude = -126.261746; captureRadius = 10; duration = 107; initialDepth = 1130.834676; finalDepth = 1152.613713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.24855 # Actual altitude: 59.24855 # Commanded vehicle depth:1130.834676 # Seafloor depth:-1190.083226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 142.20; MB_Bottom_Detect_Filter_Min_Depth = 29.62; MB_Bottom_Detect_Filter_Max_Depth = 142.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.211474 meters # Minimum depth: 1154.168422 meters looking forward 200.000000 meters along route # Maximum depth: 1185.522351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.168422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331161; longitude = -126.260533; captureRadius = 10; duration = 107; initialDepth = 1114.168422; finalDepth = 1130.834676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.24855 # Actual altitude: 59.24855 # Commanded vehicle depth:1114.168422 # Seafloor depth:-1168.777180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 142.20; MB_Bottom_Detect_Filter_Min_Depth = 29.62; MB_Bottom_Detect_Filter_Max_Depth = 142.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.177848 meters # Minimum depth: 1143.418106 meters looking forward 200.000000 meters along route # Maximum depth: 1164.352738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.418106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331686; longitude = -126.259320; captureRadius = 10; duration = 111; initialDepth = 1103.418106; finalDepth = 1114.168422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6087580000001 # Actual altitude: 54.6087580000001 # Commanded vehicle depth:1103.418106 # Seafloor depth:-1153.646945 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 131.06; MB_Bottom_Detect_Filter_Min_Depth = 27.30; MB_Bottom_Detect_Filter_Max_Depth = 131.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 70.137796 meters # Minimum depth: 1137.698444 meters looking forward 200.000000 meters along route # Maximum depth: 1154.414385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.698444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332230; longitude = -126.258062; captureRadius = 10; duration = 70; initialDepth = 1097.698444; finalDepth = 1103.418106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2288389999999 # Actual altitude: 50.2288389999999 # Commanded vehicle depth:1097.698444 # Seafloor depth:-1141.863129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 120.55; MB_Bottom_Detect_Filter_Min_Depth = 25.11; MB_Bottom_Detect_Filter_Max_Depth = 120.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 105.910005 meters # Minimum depth: 1133.605809 meters looking forward 200.000000 meters along route # Maximum depth: 1145.520034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.605809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332427; longitude = -126.257163; captureRadius = 10; duration = 105; initialDepth = 1093.605809; finalDepth = 1097.698444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.164685 # Actual altitude: 50 # Commanded vehicle depth:1093.605809 # Seafloor depth:-1136.434169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.492372 meters # Minimum depth: 1131.665797 meters looking forward 200.000000 meters along route # Maximum depth: 1135.850224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.665797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332725; longitude = -126.255807; captureRadius = 10; duration = 104; initialDepth = 1091.665797; finalDepth = 1093.605809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8283600000002 # Actual altitude: 50 # Commanded vehicle depth:1091.665797 # Seafloor depth:-1133.592396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.200444 meters # Minimum depth: 1129.073841 meters looking forward 200.000000 meters along route # Maximum depth: 1133.359467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.073841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333018; longitude = -126.254468; captureRadius = 10; duration = 105; initialDepth = 1089.073841; finalDepth = 1091.665797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8902190000001 # Actual altitude: 50 # Commanded vehicle depth:1089.073841 # Seafloor depth:-1131.964060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.199949 meters # Minimum depth: 1118.768572 meters looking forward 200.000000 meters along route # Maximum depth: 1132.603358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.768572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333314; longitude = -126.253120; captureRadius = 10; duration = 105; initialDepth = 1078.768572; finalDepth = 1089.073841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.548125 # Actual altitude: 50 # Commanded vehicle depth:1078.768572 # Seafloor depth:-1128.316697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.199452 meters # Minimum depth: 1100.769701 meters looking forward 200.000000 meters along route # Maximum depth: 1127.677435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.769701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333609; longitude = -126.251773; captureRadius = 10; duration = 105; initialDepth = 1060.769701; finalDepth = 1078.768572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9171940000001 # Actual altitude: 56.9171940000001 # Commanded vehicle depth:1060.769701 # Seafloor depth:-1117.686895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 136.60; MB_Bottom_Detect_Filter_Min_Depth = 28.46; MB_Bottom_Detect_Filter_Max_Depth = 136.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 107.662723 meters # Minimum depth: 1100.769701 meters looking forward 200.000000 meters along route # Maximum depth: 1112.888231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.769701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333905; longitude = -126.250425; captureRadius = 10; duration = 107; initialDepth = 1060.769701; finalDepth = 1060.769701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9171940000001 # Actual altitude: 56.9171940000001 # Commanded vehicle depth:1060.769701 # Seafloor depth:-1100.846785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 136.60; MB_Bottom_Detect_Filter_Min_Depth = 28.46; MB_Bottom_Detect_Filter_Max_Depth = 136.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.734693 meters # Minimum depth: 1101.800780 meters looking forward 200.000000 meters along route # Maximum depth: 1109.009961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.800780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334207; longitude = -126.249046; captureRadius = 10; duration = 102; initialDepth = 1061.800780; finalDepth = 1060.769701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.898627 # Actual altitude: 50 # Commanded vehicle depth:1061.80078 # Seafloor depth:-1108.699407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.197964 meters # Minimum depth: 1097.254796 meters looking forward 200.000000 meters along route # Maximum depth: 1108.532237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.254796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334496; longitude = -126.247729; captureRadius = 10; duration = 105; initialDepth = 1057.254796; finalDepth = 1061.800780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0593160000001 # Actual altitude: 50 # Commanded vehicle depth:1057.254796 # Seafloor depth:-1106.314112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.197468 meters # Minimum depth: 1095.128550 meters looking forward 200.000000 meters along route # Maximum depth: 1104.893315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.128550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334791; longitude = -126.246382; captureRadius = 10; duration = 105; initialDepth = 1055.128550; finalDepth = 1057.254796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0593160000001 # Actual altitude: 50 # Commanded vehicle depth:1055.12855 # Seafloor depth:-1096.771215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.196972 meters # Minimum depth: 1060.359877 meters looking forward 200.000000 meters along route # Maximum depth: 1096.477311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.359877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335087; longitude = -126.245034; captureRadius = 10; duration = 105; initialDepth = 1020.359877; finalDepth = 1055.128550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.132758 # Actual altitude: 74.132758 # Commanded vehicle depth:1020.359877 # Seafloor depth:-1094.492635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 177.92; MB_Bottom_Detect_Filter_Min_Depth = 37.07; MB_Bottom_Detect_Filter_Max_Depth = 177.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.415359 meters # Minimum depth: 1034.811588 meters looking forward 200.000000 meters along route # Maximum depth: 1092.551695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.811588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335382; longitude = -126.243686; captureRadius = 10; duration = 109; initialDepth = 994.811588; finalDepth = 1020.359877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.132758 # Actual altitude: 74.132758 # Commanded vehicle depth:994.811588 # Seafloor depth:-1055.311366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 177.92; MB_Bottom_Detect_Filter_Min_Depth = 37.07; MB_Bottom_Detect_Filter_Max_Depth = 177.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.977097 meters # Minimum depth: 1031.055649 meters looking forward 200.000000 meters along route # Maximum depth: 1051.732012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.055649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335689; longitude = -126.242285; captureRadius = 10; duration = 100; initialDepth = 991.055649; finalDepth = 994.811588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4997779999999 # Actual altitude: 60.4997779999999 # Commanded vehicle depth:991.055649 # Seafloor depth:-1034.217514 # behavior reson { duration = RESON_DURATION; 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 12 # Segment length 105.195485 meters # Minimum depth: 1031.055649 meters looking forward 200.000000 meters along route # Maximum depth: 1033.609687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.055649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335973; longitude = -126.240991; captureRadius = 10; duration = 105; initialDepth = 991.055649; finalDepth = 991.055649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.161865 # Actual altitude: 50 # Commanded vehicle depth:991.055649 # Seafloor depth:-1032.502763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.194988 meters # Minimum depth: 1027.833126 meters looking forward 200.000000 meters along route # Maximum depth: 1033.609687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.833126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336269; longitude = -126.239643; captureRadius = 10; duration = 105; initialDepth = 987.833126; finalDepth = 991.055649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2652129999999 # Actual altitude: 50 # Commanded vehicle depth:987.833126 # Seafloor depth:-1032.098339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.194493 meters # Minimum depth: 1022.793020 meters looking forward 200.000000 meters along route # Maximum depth: 1031.577113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.793020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336564; longitude = -126.238295; captureRadius = 10; duration = 105; initialDepth = 982.793020; finalDepth = 987.833126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.5789860000001 # Actual altitude: 50 # Commanded vehicle depth:982.79302 # Seafloor depth:-1027.372006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.193996 meters # Minimum depth: 1018.928532 meters looking forward 200.000000 meters along route # Maximum depth: 1026.937146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.928532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336860; longitude = -126.236948; captureRadius = 10; duration = 105; initialDepth = 978.928532; finalDepth = 982.793020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.5789860000001 # Actual altitude: 50 # Commanded vehicle depth:978.928532 # Seafloor depth:-1022.345583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.193501 meters # Minimum depth: 1014.336518 meters looking forward 200.000000 meters along route # Maximum depth: 1021.963203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.336518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337155; longitude = -126.235600; captureRadius = 10; duration = 105; initialDepth = 974.336518; finalDepth = 978.928532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.174117 # Actual altitude: 50 # Commanded vehicle depth:974.336518 # Seafloor depth:-1018.510635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.670220 meters # Minimum depth: 1008.529685 meters looking forward 200.000000 meters along route # Maximum depth: 1018.162132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.529685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337451; longitude = -126.234252; captureRadius = 10; duration = 108; initialDepth = 968.529685; finalDepth = 974.336518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7098980000001 # Actual altitude: 50 # Commanded vehicle depth:968.529685 # Seafloor depth:-1014.239583 # behavior reson { duration = RESON_DURATION; 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 56.683522 meters # Minimum depth: 1007.777744 meters looking forward 200.000000 meters along route # Maximum depth: 1015.682511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.777744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337756; longitude = -126.232860; captureRadius = 10; duration = 56; initialDepth = 967.777744; finalDepth = 968.529685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7098980000001 # Actual altitude: 50 # Commanded vehicle depth:967.777744 # Seafloor depth:-1008.459854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978821 meters # Minimum depth: 1002.535341 meters looking forward 200.000000 meters along route # Maximum depth: 1009.543802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.535341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337773; longitude = -126.232096; captureRadius = 10; duration = 109; initialDepth = 962.535341; finalDepth = 967.777744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.675811 # Actual altitude: 50 # Commanded vehicle depth:962.535341 # Seafloor depth:-1007.211152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978811 meters # Minimum depth: 998.677045 meters looking forward 200.000000 meters along route # Maximum depth: 1007.931996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.677045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337805; longitude = -126.230613; captureRadius = 10; duration = 109; initialDepth = 958.677045; finalDepth = 962.535341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.675811 # Actual altitude: 50 # Commanded vehicle depth:958.677045 # Seafloor depth:-1002.691535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978803 meters # Minimum depth: 989.042525 meters looking forward 200.000000 meters along route # Maximum depth: 1002.138705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.042525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337837; longitude = -126.229131; captureRadius = 10; duration = 109; initialDepth = 949.042525; finalDepth = 958.677045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4954770000001 # Actual altitude: 50 # Commanded vehicle depth:949.042525 # Seafloor depth:-998.538002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978795 meters # Minimum depth: 989.042525 meters looking forward 200.000000 meters along route # Maximum depth: 994.943823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.042525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337870; longitude = -126.227648; captureRadius = 10; duration = 109; initialDepth = 949.042525; finalDepth = 949.042525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4954770000001 # Actual altitude: 50 # Commanded vehicle depth:949.042525 # Seafloor depth:-993.124725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978786 meters # Minimum depth: 985.534024 meters looking forward 200.000000 meters along route # Maximum depth: 992.382699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.534024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337902; longitude = -126.226166; captureRadius = 10; duration = 109; initialDepth = 945.534024; finalDepth = 949.042525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0822000000001 # Actual altitude: 50 # Commanded vehicle depth:945.534024 # Seafloor depth:-988.967769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978778 meters # Minimum depth: 983.569979 meters looking forward 200.000000 meters along route # Maximum depth: 989.078362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.569979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337934; longitude = -126.224683; captureRadius = 10; duration = 109; initialDepth = 943.569979; finalDepth = 945.534024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4337449999999 # Actual altitude: 50 # Commanded vehicle depth:943.569979 # Seafloor depth:-985.344271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978770 meters # Minimum depth: 979.699458 meters looking forward 200.000000 meters along route # Maximum depth: 984.966165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.699458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337967; longitude = -126.223201; captureRadius = 10; duration = 109; initialDepth = 939.699458; finalDepth = 943.569979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.84768 # Actual altitude: 50 # Commanded vehicle depth:939.699458 # Seafloor depth:-983.547138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978761 meters # Minimum depth: 976.898351 meters looking forward 200.000000 meters along route # Maximum depth: 983.167547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.898351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337999; longitude = -126.221718; captureRadius = 10; duration = 109; initialDepth = 936.898351; finalDepth = 939.699458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.84768 # Actual altitude: 50 # Commanded vehicle depth:936.898351 # Seafloor depth:-979.547141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978752 meters # Minimum depth: 974.954561 meters looking forward 200.000000 meters along route # Maximum depth: 979.672444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.954561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338031; longitude = -126.220236; captureRadius = 10; duration = 109; initialDepth = 934.954561; finalDepth = 936.898351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.64879 # Actual altitude: 50 # Commanded vehicle depth:934.954561 # Seafloor depth:-977.186125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978745 meters # Minimum depth: 971.003680 meters looking forward 200.000000 meters along route # Maximum depth: 976.813915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.003680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338063; longitude = -126.218754; captureRadius = 10; duration = 109; initialDepth = 931.003680; finalDepth = 934.954561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.973705 # Actual altitude: 50 # Commanded vehicle depth:931.00368 # Seafloor depth:-974.977385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978736 meters # Minimum depth: 968.179918 meters looking forward 200.000000 meters along route # Maximum depth: 974.119293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.179918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338096; longitude = -126.217271; captureRadius = 10; duration = 109; initialDepth = 928.179918; finalDepth = 931.003680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.973705 # Actual altitude: 50 # Commanded vehicle depth:928.179918 # Seafloor depth:-970.942665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978728 meters # Minimum depth: 965.017319 meters looking forward 200.000000 meters along route # Maximum depth: 970.491694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.017319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338128; longitude = -126.215789; captureRadius = 10; duration = 109; initialDepth = 925.017319; finalDepth = 928.179918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.762747 # Actual altitude: 50 # Commanded vehicle depth:925.017319 # Seafloor depth:-967.104841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978719 meters # Minimum depth: 960.107625 meters looking forward 200.000000 meters along route # Maximum depth: 966.890361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.107625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338160; longitude = -126.214306; captureRadius = 10; duration = 109; initialDepth = 920.107625; finalDepth = 925.017319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6382590000001 # Actual altitude: 50 # Commanded vehicle depth:920.107625 # Seafloor depth:-964.745884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978712 meters # Minimum depth: 952.196019 meters looking forward 200.000000 meters along route # Maximum depth: 963.736448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.196019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338193; longitude = -126.212824; captureRadius = 10; duration = 109; initialDepth = 912.196019; finalDepth = 920.107625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.337254 # Actual altitude: 50 # Commanded vehicle depth:912.196019 # Seafloor depth:-959.533273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978703 meters # Minimum depth: 945.663254 meters looking forward 200.000000 meters along route # Maximum depth: 958.000545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.663254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338225; longitude = -126.211341; captureRadius = 10; duration = 109; initialDepth = 905.663254; finalDepth = 912.196019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.337254 # Actual altitude: 50 # Commanded vehicle depth:905.663254 # Seafloor depth:-951.815649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978695 meters # Minimum depth: 938.701793 meters looking forward 200.000000 meters along route # Maximum depth: 951.707616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.701793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338257; longitude = -126.209859; captureRadius = 10; duration = 109; initialDepth = 898.701793; finalDepth = 905.663254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3461960000001 # Actual altitude: 50 # Commanded vehicle depth:898.701793 # Seafloor depth:-945.047989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978688 meters # Minimum depth: 929.802352 meters looking forward 200.000000 meters along route # Maximum depth: 943.523205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.802352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338290; longitude = -126.208376; captureRadius = 10; duration = 109; initialDepth = 889.802352; finalDepth = 898.701793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5122329999999 # Actual altitude: 50 # Commanded vehicle depth:889.802352 # Seafloor depth:-938.314585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978679 meters # Minimum depth: 919.856727 meters looking forward 200.000000 meters along route # Maximum depth: 936.950130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.856727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338322; longitude = -126.206894; captureRadius = 10; duration = 109; initialDepth = 879.856727; finalDepth = 889.802352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8727180000001 # Actual altitude: 50 # Commanded vehicle depth:879.856727 # Seafloor depth:-928.729445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.501203 meters # Minimum depth: 910.476875 meters looking forward 200.000000 meters along route # Maximum depth: 926.916052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.476875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338354; longitude = -126.205411; captureRadius = 10; duration = 104; initialDepth = 870.476875; finalDepth = 879.856727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8727180000001 # Actual altitude: 50 # Commanded vehicle depth:870.476875 # Seafloor depth:-919.146437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.458071 meters # Minimum depth: 901.062233 meters looking forward 200.000000 meters along route # Maximum depth: 918.161948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.062233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338385; longitude = -126.204002; captureRadius = 10; duration = 105; initialDepth = 861.062233; finalDepth = 870.476875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.994444 # Actual altitude: 50 # Commanded vehicle depth:861.062233 # Seafloor depth:-910.056677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978656 meters # Minimum depth: 890.780262 meters looking forward 200.000000 meters along route # Maximum depth: 908.405819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.780262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338416; longitude = -126.202581; captureRadius = 10; duration = 109; initialDepth = 850.780262; finalDepth = 861.062233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.149737 # Actual altitude: 50 # Commanded vehicle depth:850.780262 # Seafloor depth:-899.929999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978648 meters # Minimum depth: 880.823507 meters looking forward 200.000000 meters along route # Maximum depth: 897.600405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.823507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338448; longitude = -126.201098; captureRadius = 10; duration = 109; initialDepth = 840.823507; finalDepth = 850.780262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.307279 # Actual altitude: 50 # Commanded vehicle depth:840.823507 # Seafloor depth:-890.130786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978640 meters # Minimum depth: 872.281141 meters looking forward 200.000000 meters along route # Maximum depth: 888.546896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.281141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338481; longitude = -126.199616; captureRadius = 10; duration = 109; initialDepth = 832.281141; finalDepth = 840.823507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.307279 # Actual altitude: 50 # Commanded vehicle depth:832.281141 # Seafloor depth:-879.860075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978632 meters # Minimum depth: 863.573247 meters looking forward 200.000000 meters along route # Maximum depth: 878.310935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.573247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338513; longitude = -126.198133; captureRadius = 10; duration = 109; initialDepth = 823.573247; finalDepth = 832.281141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1788909999999 # Actual altitude: 50 # Commanded vehicle depth:823.573247 # Seafloor depth:-871.752138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978624 meters # Minimum depth: 853.907991 meters looking forward 200.000000 meters along route # Maximum depth: 870.235745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.907991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338545; longitude = -126.196651; captureRadius = 10; duration = 109; initialDepth = 813.907991; finalDepth = 823.573247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.809545 # Actual altitude: 50 # Commanded vehicle depth:813.907991 # Seafloor depth:-862.717536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978617 meters # Minimum depth: 845.532447 meters looking forward 200.000000 meters along route # Maximum depth: 860.821445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.532447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338577; longitude = -126.195168; captureRadius = 10; duration = 109; initialDepth = 805.532447; finalDepth = 813.907991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.809545 # Actual altitude: 50 # Commanded vehicle depth:805.532447 # Seafloor depth:-853.123807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978609 meters # Minimum depth: 838.372001 meters looking forward 200.000000 meters along route # Maximum depth: 851.430750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.372001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338610; longitude = -126.193686; captureRadius = 10; duration = 109; initialDepth = 798.372001; finalDepth = 805.532447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.59136 # Actual altitude: 50 # Commanded vehicle depth:798.372001 # Seafloor depth:-844.638282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978601 meters # Minimum depth: 831.921005 meters looking forward 200.000000 meters along route # Maximum depth: 843.126657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.921005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338642; longitude = -126.192203; captureRadius = 10; duration = 109; initialDepth = 791.921005; finalDepth = 798.372001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.266281 # Actual altitude: 50 # Commanded vehicle depth:791.921005 # Seafloor depth:-837.847763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978593 meters # Minimum depth: 823.056170 meters looking forward 200.000000 meters along route # Maximum depth: 836.942852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.056170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338674; longitude = -126.190721; captureRadius = 10; duration = 109; initialDepth = 783.056170; finalDepth = 791.921005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.283945 # Actual altitude: 50 # Commanded vehicle depth:783.05617 # Seafloor depth:-831.340115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978586 meters # Minimum depth: 812.691742 meters looking forward 200.000000 meters along route # Maximum depth: 830.170290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.691742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338707; longitude = -126.189238; captureRadius = 10; duration = 109; initialDepth = 772.691742; finalDepth = 783.056170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.975902 # Actual altitude: 50 # Commanded vehicle depth:772.691742 # Seafloor depth:-821.667644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978578 meters # Minimum depth: 802.653695 meters looking forward 200.000000 meters along route # Maximum depth: 820.158020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.653695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338739; longitude = -126.187756; captureRadius = 10; duration = 109; initialDepth = 762.653695; finalDepth = 772.691742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.367297 # Actual altitude: 50 # Commanded vehicle depth:762.653695 # Seafloor depth:-812.020992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.978570 meters # Minimum depth: 792.574923 meters looking forward 200.000000 meters along route # Maximum depth: 810.616937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.574923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338771; longitude = -126.186273; captureRadius = 10; duration = 109; initialDepth = 752.574923; finalDepth = 762.653695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9662959999999 # Actual altitude: 50 # Commanded vehicle depth:752.574923 # Seafloor depth:-802.541219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.340115 meters # Minimum depth: 785.539804 meters looking forward 200.000000 meters along route # Maximum depth: 801.860755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.539804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338804; longitude = -126.184791; captureRadius = 10; duration = 103; initialDepth = 745.539804; finalDepth = 752.574923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9662959999999 # Actual altitude: 50 # Commanded vehicle depth:745.539804 # Seafloor depth:-792.394315 # behavior reson { duration = RESON_DURATION; 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 48.251618 meters # Minimum depth: 783.189198 meters looking forward 200.000000 meters along route # Maximum depth: 795.501529 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.189198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338834; longitude = -126.183398; captureRadius = 10; duration = 48; initialDepth = 743.189198; finalDepth = 745.539804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.854511 # Actual altitude: 50 # Commanded vehicle depth:743.189198 # Seafloor depth:-785.082184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.168752 meters # Minimum depth: 776.949206 meters looking forward 200.000000 meters along route # Maximum depth: 790.054173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.949206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338946; longitude = -126.182769; captureRadius = 10; duration = 106; initialDepth = 736.949206; finalDepth = 743.189198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.180309 # Actual altitude: 50 # Commanded vehicle depth:736.949206 # Seafloor depth:-783.129515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.742283 meters # Minimum depth: 772.859437 meters looking forward 200.000000 meters along route # Maximum depth: 782.678947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.859437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339194; longitude = -126.181386; captureRadius = 10; duration = 100; initialDepth = 732.859437; finalDepth = 736.949206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.180309 # Actual altitude: 50 # Commanded vehicle depth:732.859437 # Seafloor depth:-776.727932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.454915 meters # Minimum depth: 766.907957 meters looking forward 200.000000 meters along route # Maximum depth: 776.628146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.907957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339428; longitude = -126.180074; captureRadius = 10; duration = 103; initialDepth = 726.907957; finalDepth = 732.859437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9965139999999 # Actual altitude: 50 # Commanded vehicle depth:726.907957 # Seafloor depth:-772.904471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.454513 meters # Minimum depth: 763.414395 meters looking forward 200.000000 meters along route # Maximum depth: 772.403708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.414395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339669; longitude = -126.178726; captureRadius = 10; duration = 103; initialDepth = 723.414395; finalDepth = 726.907957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9965139999999 # Actual altitude: 50 # Commanded vehicle depth:723.414395 # Seafloor depth:-765.866918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.454111 meters # Minimum depth: 757.585057 meters looking forward 200.000000 meters along route # Maximum depth: 765.277205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.585057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339910; longitude = -126.177379; captureRadius = 10; duration = 103; initialDepth = 717.585057; finalDepth = 723.414395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.135585 # Actual altitude: 50 # Commanded vehicle depth:717.585057 # Seafloor depth:-762.720642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.453709 meters # Minimum depth: 749.924955 meters looking forward 200.000000 meters along route # Maximum depth: 762.121783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.924955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340151; longitude = -126.176031; captureRadius = 10; duration = 103; initialDepth = 709.924955; finalDepth = 717.585057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.243735 # Actual altitude: 50 # Commanded vehicle depth:709.924955 # Seafloor depth:-757.168690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.453307 meters # Minimum depth: 744.434329 meters looking forward 200.000000 meters along route # Maximum depth: 756.660652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.434329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340392; longitude = -126.174683; captureRadius = 10; duration = 103; initialDepth = 704.434329; finalDepth = 709.924955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.243735 # Actual altitude: 50 # Commanded vehicle depth:704.434329 # Seafloor depth:-749.162159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.452905 meters # Minimum depth: 730.923737 meters looking forward 200.000000 meters along route # Maximum depth: 748.441819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.923737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340633; longitude = -126.173335; captureRadius = 10; duration = 103; initialDepth = 690.923737; finalDepth = 704.434329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5855170000001 # Actual altitude: 52.5855170000001 # Commanded vehicle depth:690.923737 # Seafloor depth:-743.509254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 126.21; MB_Bottom_Detect_Filter_Min_Depth = 26.29; MB_Bottom_Detect_Filter_Max_Depth = 126.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.452504 meters # Minimum depth: 720.347548 meters looking forward 200.000000 meters along route # Maximum depth: 742.130791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.347548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340874; longitude = -126.171988; captureRadius = 10; duration = 103; initialDepth = 680.347548; finalDepth = 690.923737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5855170000001 # Actual altitude: 52.5855170000001 # Commanded vehicle depth:680.347548 # Seafloor depth:-729.764832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 126.21; MB_Bottom_Detect_Filter_Min_Depth = 26.29; MB_Bottom_Detect_Filter_Max_Depth = 126.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.452102 meters # Minimum depth: 711.149492 meters looking forward 200.000000 meters along route # Maximum depth: 728.415251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.149492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341114; longitude = -126.170640; captureRadius = 10; duration = 103; initialDepth = 671.149492; finalDepth = 680.347548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.417284 # Actual altitude: 50 # Commanded vehicle depth:671.149492 # Seafloor depth:-719.535249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.451700 meters # Minimum depth: 703.379136 meters looking forward 200.000000 meters along route # Maximum depth: 718.615553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.379136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341355; longitude = -126.169292; captureRadius = 10; duration = 103; initialDepth = 663.379136; finalDepth = 671.149492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.385757 # Actual altitude: 50 # Commanded vehicle depth:663.379136 # Seafloor depth:-710.962730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.451298 meters # Minimum depth: 695.607608 meters looking forward 200.000000 meters along route # Maximum depth: 710.132441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.607608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341596; longitude = -126.167945; captureRadius = 10; duration = 103; initialDepth = 655.607608; finalDepth = 663.379136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5835939999999 # Actual altitude: 50 # Commanded vehicle depth:655.607608 # Seafloor depth:-702.506220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.450897 meters # Minimum depth: 689.533872 meters looking forward 200.000000 meters along route # Maximum depth: 701.997985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.533872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341837; longitude = -126.166597; captureRadius = 10; duration = 103; initialDepth = 649.533872; finalDepth = 655.607608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.898612 # Actual altitude: 50 # Commanded vehicle depth:649.533872 # Seafloor depth:-695.202144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.450495 meters # Minimum depth: 684.094948 meters looking forward 200.000000 meters along route # Maximum depth: 694.795974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.094948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342078; longitude = -126.165249; captureRadius = 10; duration = 103; initialDepth = 644.094948; finalDepth = 649.533872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.668272 # Actual altitude: 50 # Commanded vehicle depth:644.094948 # Seafloor depth:-688.733049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.765008 meters # Minimum depth: 678.157368 meters looking forward 200.000000 meters along route # Maximum depth: 688.171338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.157368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342319; longitude = -126.163901; captureRadius = 10; duration = 104; initialDepth = 638.157368; finalDepth = 644.094948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2316979999999 # Actual altitude: 50 # Commanded vehicle depth:638.157368 # Seafloor depth:-683.389066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.134777 meters # Minimum depth: 673.234394 meters looking forward 200.000000 meters along route # Maximum depth: 682.785071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.234394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342563; longitude = -126.162537; captureRadius = 10; duration = 102; initialDepth = 633.234394; finalDepth = 638.157368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2316979999999 # Actual altitude: 50 # Commanded vehicle depth:633.234394 # Seafloor depth:-678.121406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.449290 meters # Minimum depth: 665.108389 meters looking forward 200.000000 meters along route # Maximum depth: 678.059816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.108389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342801; longitude = -126.161206; captureRadius = 10; duration = 103; initialDepth = 625.108389; finalDepth = 633.234394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.055759 # Actual altitude: 50 # Commanded vehicle depth:625.108389 # Seafloor depth:-672.164148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.448888 meters # Minimum depth: 658.024512 meters looking forward 200.000000 meters along route # Maximum depth: 670.964725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.024512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343042; longitude = -126.159858; captureRadius = 10; duration = 103; initialDepth = 618.024512; finalDepth = 625.108389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.055759 # Actual altitude: 50 # Commanded vehicle depth:618.024512 # Seafloor depth:-664.733476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.448487 meters # Minimum depth: 649.528359 meters looking forward 200.000000 meters along route # Maximum depth: 664.006199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.528359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343282; longitude = -126.158510; captureRadius = 10; duration = 103; initialDepth = 609.528359; finalDepth = 618.024512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.65662 # Actual altitude: 50 # Commanded vehicle depth:609.528359 # Seafloor depth:-657.184979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.448085 meters # Minimum depth: 640.305857 meters looking forward 200.000000 meters along route # Maximum depth: 656.479107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.305857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343523; longitude = -126.157163; captureRadius = 10; duration = 103; initialDepth = 600.305857; finalDepth = 609.528359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.705102 # Actual altitude: 50 # Commanded vehicle depth:600.305857 # Seafloor depth:-649.010959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.447684 meters # Minimum depth: 633.096244 meters looking forward 200.000000 meters along route # Maximum depth: 647.868375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.096244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343764; longitude = -126.155815; captureRadius = 10; duration = 103; initialDepth = 593.096244; finalDepth = 600.305857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.705102 # Actual altitude: 50 # Commanded vehicle depth:593.096244 # Seafloor depth:-639.330987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.447283 meters # Minimum depth: 623.638516 meters looking forward 200.000000 meters along route # Maximum depth: 638.367739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.638516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344005; longitude = -126.154467; captureRadius = 10; duration = 103; initialDepth = 583.638516; finalDepth = 593.096244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3791180000001 # Actual altitude: 50 # Commanded vehicle depth:583.638516 # Seafloor depth:-632.017634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.893721 meters # Minimum depth: 612.204842 meters looking forward 200.000000 meters along route # Maximum depth: 630.960046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.204842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344246; longitude = -126.153120; captureRadius = 10; duration = 106; initialDepth = 572.204842; finalDepth = 583.638516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6496030000001 # Actual altitude: 50.6496030000001 # Commanded vehicle depth:572.204842 # Seafloor depth:-622.854445 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 121.56; MB_Bottom_Detect_Filter_Min_Depth = 25.32; MB_Bottom_Detect_Filter_Max_Depth = 121.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 82.809072 meters # Minimum depth: 605.109036 meters looking forward 200.000000 meters along route # Maximum depth: 622.854445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.109036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344495; longitude = -126.151727; captureRadius = 10; duration = 82; initialDepth = 565.109036; finalDepth = 572.204842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6496030000001 # Actual altitude: 50.6496030000001 # Commanded vehicle depth:565.109036 # Seafloor depth:-611.523636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 121.56; MB_Bottom_Detect_Filter_Min_Depth = 25.32; MB_Bottom_Detect_Filter_Max_Depth = 121.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.240904 meters # Minimum depth: 595.635009 meters looking forward 200.000000 meters along route # Maximum depth: 613.442275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.635009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344778; longitude = -126.150694; captureRadius = 10; duration = 101; initialDepth = 555.635009; finalDepth = 565.109036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.370266 # Actual altitude: 50 # Commanded vehicle depth:555.635009 # Seafloor depth:-604.005275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.976455 meters # Minimum depth: 584.860323 meters looking forward 200.000000 meters along route # Maximum depth: 603.125241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.860323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345124; longitude = -126.149430; captureRadius = 10; duration = 103; initialDepth = 544.860323; finalDepth = 555.635009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.361673 # Actual altitude: 50.361673 # Commanded vehicle depth:544.860323 # Seafloor depth:-595.221996 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.87; 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 = 120.87; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.008251 meters # Minimum depth: 579.176627 meters looking forward 200.000000 meters along route # Maximum depth: 593.303616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.176627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345479; longitude = -126.148133; captureRadius = 10; duration = 108; initialDepth = 539.176627; finalDepth = 544.860323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.361673 # Actual altitude: 50.361673 # Commanded vehicle depth:539.176627 # Seafloor depth:-583.736153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.87; 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 = 120.87; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.729825 meters # Minimum depth: 571.649486 meters looking forward 200.000000 meters along route # Maximum depth: 582.736857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.649486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345847; longitude = -126.146785; captureRadius = 10; duration = 103; initialDepth = 531.649486; finalDepth = 539.176627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.919673 # Actual altitude: 50 # Commanded vehicle depth:531.649486 # Seafloor depth:-578.569159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.484169 meters # Minimum depth: 563.407039 meters looking forward 200.000000 meters along route # Maximum depth: 577.672732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.407039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346202; longitude = -126.145491; captureRadius = 10; duration = 101; initialDepth = 523.407039; finalDepth = 531.649486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0438999999999 # Actual altitude: 50 # Commanded vehicle depth:523.407039 # Seafloor depth:-571.450939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.006480 meters # Minimum depth: 556.391426 meters looking forward 200.000000 meters along route # Maximum depth: 569.330647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.391426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346548; longitude = -126.144225; captureRadius = 10; duration = 108; initialDepth = 516.391426; finalDepth = 523.407039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0438999999999 # Actual altitude: 50 # Commanded vehicle depth:516.391426 # Seafloor depth:-562.445048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.005869 meters # Minimum depth: 549.283497 meters looking forward 200.000000 meters along route # Maximum depth: 562.300227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.283497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346917; longitude = -126.142877; captureRadius = 10; duration = 108; initialDepth = 509.283497; finalDepth = 516.391426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.44268 # Actual altitude: 50 # Commanded vehicle depth:509.283497 # Seafloor depth:-555.726177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 108.005258 meters # Minimum depth: 541.585775 meters looking forward 200.000000 meters along route # Maximum depth: 554.405988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.585775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347286; longitude = -126.141529; captureRadius = 10; duration = 108; initialDepth = 501.585775; finalDepth = 509.283497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.462713 # Actual altitude: 50 # Commanded vehicle depth:501.585775 # Seafloor depth:-549.048488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.776934 meters # Minimum depth: 534.665940 meters looking forward 200.000000 meters along route # Maximum depth: 548.858201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.665940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347655; longitude = -126.140182; captureRadius = 10; duration = 100; initialDepth = 494.665940; finalDepth = 501.585775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.462713 # Actual altitude: 50 # Commanded vehicle depth:494.66594 # Seafloor depth:-540.539470 # behavior reson { duration = RESON_DURATION; 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 79.851647 meters # Minimum depth: 529.606276 meters looking forward 200.000000 meters along route # Maximum depth: 541.717642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.606276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347999; longitude = -126.138924; captureRadius = 10; duration = 79; initialDepth = 489.606276; finalDepth = 494.665940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8735300000001 # Actual altitude: 50 # Commanded vehicle depth:489.606276 # Seafloor depth:-534.275345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.962865 meters # Minimum depth: 521.432405 meters looking forward 200.000000 meters along route # Maximum depth: 534.665940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.432405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.348493; longitude = -126.138142; captureRadius = 10; duration = 108; initialDepth = 481.432405; finalDepth = 489.606276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.049899 # Actual altitude: 50 # Commanded vehicle depth:481.432405 # Seafloor depth:-529.482304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.422197 meters # Minimum depth: 514.100211 meters looking forward 200.000000 meters along route # Maximum depth: 527.725282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.100211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349167; longitude = -126.137075; captureRadius = 10; duration = 109; initialDepth = 474.100211; finalDepth = 481.432405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.049899 # Actual altitude: 50 # Commanded vehicle depth:474.100211 # Seafloor depth:-521.381800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.103926 meters # Minimum depth: 506.057270 meters looking forward 200.000000 meters along route # Maximum depth: 519.857362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.057270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349843; longitude = -126.136004; captureRadius = 10; duration = 110; initialDepth = 466.057270; finalDepth = 474.100211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.010104 # Actual altitude: 50 # Commanded vehicle depth:466.05727 # Seafloor depth:-514.067374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.103204 meters # Minimum depth: 495.916451 meters looking forward 200.000000 meters along route # Maximum depth: 512.574249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.916451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.350524; longitude = -126.134925; captureRadius = 10; duration = 110; initialDepth = 455.916451; finalDepth = 466.057270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.989432 # Actual altitude: 50 # Commanded vehicle depth:455.916451 # Seafloor depth:-505.905883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.102482 meters # Minimum depth: 485.232529 meters looking forward 200.000000 meters along route # Maximum depth: 503.357127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.232529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351205; longitude = -126.133847; captureRadius = 10; duration = 110; initialDepth = 445.232529; finalDepth = 455.916451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.477697 # Actual altitude: 50.477697 # Commanded vehicle depth:445.232529 # Seafloor depth:-495.710226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 121.15; MB_Bottom_Detect_Filter_Min_Depth = 25.24; MB_Bottom_Detect_Filter_Max_Depth = 121.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.101759 meters # Minimum depth: 474.874928 meters looking forward 200.000000 meters along route # Maximum depth: 493.766936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.874928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351886; longitude = -126.132769; captureRadius = 10; duration = 110; initialDepth = 434.874928; finalDepth = 445.232529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.477697 # Actual altitude: 50.477697 # Commanded vehicle depth:434.874928 # Seafloor depth:-485.014183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 121.15; MB_Bottom_Detect_Filter_Min_Depth = 25.24; MB_Bottom_Detect_Filter_Max_Depth = 121.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.928762 meters # Minimum depth: 467.511568 meters looking forward 200.000000 meters along route # Maximum depth: 482.894994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.511568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352567; longitude = -126.131691; captureRadius = 10; duration = 103; initialDepth = 427.511568; finalDepth = 434.874928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.139255 # Actual altitude: 50.139255 # Commanded vehicle depth:427.511568 # Seafloor depth:-475.191100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 120.33; MB_Bottom_Detect_Filter_Min_Depth = 25.07; MB_Bottom_Detect_Filter_Max_Depth = 120.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.510089 meters # Minimum depth: 460.273764 meters looking forward 200.000000 meters along route # Maximum depth: 473.764643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.273764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353210; longitude = -126.130673; captureRadius = 10; duration = 102; initialDepth = 420.273764; finalDepth = 427.511568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.679532 # Actual altitude: 50 # Commanded vehicle depth:420.273764 # Seafloor depth:-466.669837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.924579 meters # Minimum depth: 452.685712 meters looking forward 200.000000 meters along route # Maximum depth: 466.138796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.685712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353844; longitude = -126.129669; captureRadius = 10; duration = 100; initialDepth = 412.685712; finalDepth = 420.273764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.569904 # Actual altitude: 50 # Commanded vehicle depth:412.685712 # Seafloor depth:-459.255616 # behavior reson { duration = RESON_DURATION; 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 67.246254 meters # Minimum depth: 447.569805 meters looking forward 200.000000 meters along route # Maximum depth: 461.088749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.569805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354468; longitude = -126.128681; captureRadius = 10; duration = 67; initialDepth = 407.569805; finalDepth = 412.685712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.569904 # Actual altitude: 50 # Commanded vehicle depth:407.569805 # Seafloor depth:-452.122070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.038592 meters # Minimum depth: 442.208078 meters looking forward 200.000000 meters along route # Maximum depth: 453.662162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.208078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354975; longitude = -126.128187; captureRadius = 10; duration = 110; initialDepth = 402.208078; finalDepth = 407.569805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.249426 # Actual altitude: 50 # Commanded vehicle depth:402.208078 # Seafloor depth:-447.457504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.682057 meters # Minimum depth: 437.541572 meters looking forward 200.000000 meters along route # Maximum depth: 446.341626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.541572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.355805; longitude = -126.127378; captureRadius = 10; duration = 102; initialDepth = 397.541572; finalDepth = 402.208078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.249426 # Actual altitude: 50 # Commanded vehicle depth:397.541572 # Seafloor depth:-442.013628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.235340 meters # Minimum depth: 432.021610 meters looking forward 200.000000 meters along route # Maximum depth: 441.370585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.021610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356579; longitude = -126.126624; captureRadius = 10; duration = 107; initialDepth = 392.021610; finalDepth = 397.541572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.856929 # Actual altitude: 50 # Commanded vehicle depth:392.02161 # Seafloor depth:-436.878539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.234878 meters # Minimum depth: 427.465176 meters looking forward 200.000000 meters along route # Maximum depth: 435.969522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.465176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.357388; longitude = -126.125836; captureRadius = 10; duration = 107; initialDepth = 387.465176; finalDepth = 392.021610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.856929 # Actual altitude: 50 # Commanded vehicle depth:387.465176 # Seafloor depth:-431.612994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.234416 meters # Minimum depth: 422.061405 meters looking forward 200.000000 meters along route # Maximum depth: 430.546710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.061405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358196; longitude = -126.125048; captureRadius = 10; duration = 107; initialDepth = 382.061405; finalDepth = 387.465176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.022117 # Actual altitude: 50 # Commanded vehicle depth:382.061405 # Seafloor depth:-427.083522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.311810 meters # Minimum depth: 418.117829 meters looking forward 200.000000 meters along route # Maximum depth: 426.017948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.117829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359005; longitude = -126.124260; captureRadius = 10; duration = 101; initialDepth = 378.117829; finalDepth = 382.061405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.022117 # Actual altitude: 50 # Commanded vehicle depth:378.117829 # Seafloor depth:-422.055546 # behavior reson { duration = RESON_DURATION; 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 45.467113 meters # Minimum depth: 415.853686 meters looking forward 200.000000 meters along route # Maximum depth: 423.691045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.853686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359769; longitude = -126.123515; captureRadius = 10; duration = 45; initialDepth = 375.853686; finalDepth = 378.117829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.937717 # Actual altitude: 50 # Commanded vehicle depth:375.853686 # Seafloor depth:-417.583412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.155861 meters # Minimum depth: 412.703122 meters looking forward 200.000000 meters along route # Maximum depth: 419.585263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.703122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.360160; longitude = -126.123335; captureRadius = 10; duration = 102; initialDepth = 372.703122; finalDepth = 375.853686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.626454 # Actual altitude: 50 # Commanded vehicle depth:372.703122 # Seafloor depth:-415.329576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.155738 meters # Minimum depth: 410.345494 meters looking forward 200.000000 meters along route # Maximum depth: 415.320180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.345494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.361038; longitude = -126.122931; captureRadius = 10; duration = 102; initialDepth = 370.345494; finalDepth = 372.703122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.626454 # Actual altitude: 50 # Commanded vehicle depth:370.345494 # Seafloor depth:-412.697437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.155615 meters # Minimum depth: 406.674274 meters looking forward 200.000000 meters along route # Maximum depth: 412.603788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.674274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.361916; longitude = -126.122526; captureRadius = 10; duration = 102; initialDepth = 366.674274; finalDepth = 370.345494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.560108 # Actual altitude: 50 # Commanded vehicle depth:366.674274 # Seafloor depth:-410.234382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.155493 meters # Minimum depth: 404.352999 meters looking forward 200.000000 meters along route # Maximum depth: 410.110606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.352999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.362794; longitude = -126.122122; captureRadius = 10; duration = 102; initialDepth = 364.352999; finalDepth = 366.674274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.560108 # Actual altitude: 50 # Commanded vehicle depth:364.352999 # Seafloor depth:-406.641637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.155370 meters # Minimum depth: 401.156520 meters looking forward 200.000000 meters along route # Maximum depth: 406.381673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.156520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.363672; longitude = -126.121718; captureRadius = 10; duration = 102; initialDepth = 361.156520; finalDepth = 364.352999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.857383 # Actual altitude: 50 # Commanded vehicle depth:361.15652 # Seafloor depth:-404.013903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.438314 meters # Minimum depth: 397.920613 meters looking forward 200.000000 meters along route # Maximum depth: 403.276100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.920613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.364551; longitude = -126.121313; captureRadius = 10; duration = 107; initialDepth = 357.920613; finalDepth = 361.156520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.189688 # Actual altitude: 50 # Commanded vehicle depth:357.920613 # Seafloor depth:-401.110301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.747561 meters # Minimum depth: 396.047996 meters looking forward 200.000000 meters along route # Maximum depth: 400.297743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.047996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.365474; longitude = -126.120888; captureRadius = 10; duration = 109; initialDepth = 356.047996; finalDepth = 357.920613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.189688 # Actual altitude: 50 # Commanded vehicle depth:356.047996 # Seafloor depth:-397.803052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.747419 meters # Minimum depth: 394.371939 meters looking forward 200.000000 meters along route # Maximum depth: 397.313463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.371939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.366417; longitude = -126.120454; captureRadius = 10; duration = 109; initialDepth = 354.371939; finalDepth = 356.047996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.755056 # Actual altitude: 50 # Commanded vehicle depth:354.371939 # Seafloor depth:-395.663655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.479407 meters # Minimum depth: 391.362777 meters looking forward 200.000000 meters along route # Maximum depth: 395.841984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.362777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.367361; longitude = -126.120020; captureRadius = 10; duration = 104; initialDepth = 351.362777; finalDepth = 354.371939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.420449 # Actual altitude: 50 # Commanded vehicle depth:351.362777 # Seafloor depth:-393.783226 # behavior reson { duration = RESON_DURATION; 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 65.010601 meters # Minimum depth: 389.367745 meters looking forward 200.000000 meters along route # Maximum depth: 394.535626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.367745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368259; longitude = -126.119606; captureRadius = 10; duration = 65; initialDepth = 349.367745; finalDepth = 351.362777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.420449 # Actual altitude: 50 # Commanded vehicle depth:349.367745 # Seafloor depth:-391.272621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952544 meters # Minimum depth: 387.301733 meters looking forward 200.000000 meters along route # Maximum depth: 391.399900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.301733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368843; longitude = -126.119584; captureRadius = 10; duration = 104; initialDepth = 347.301733; finalDepth = 349.367745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.904876 # Actual altitude: 50 # Commanded vehicle depth:347.301733 # Seafloor depth:-388.965098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952559 meters # Minimum depth: 384.716928 meters looking forward 200.000000 meters along route # Maximum depth: 388.852999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.716928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.369787; longitude = -126.119550; captureRadius = 10; duration = 104; initialDepth = 344.716928; finalDepth = 347.301733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.009189 # Actual altitude: 50 # Commanded vehicle depth:344.716928 # Seafloor depth:-386.726117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952575 meters # Minimum depth: 381.108790 meters looking forward 200.000000 meters along route # Maximum depth: 386.565713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.108790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.370730; longitude = -126.119515; captureRadius = 10; duration = 104; initialDepth = 341.108790; finalDepth = 344.716928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.905942 # Actual altitude: 50 # Commanded vehicle depth:341.10879 # Seafloor depth:-384.014732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952590 meters # Minimum depth: 377.724027 meters looking forward 200.000000 meters along route # Maximum depth: 382.905882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.724027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.371674; longitude = -126.119480; captureRadius = 10; duration = 104; initialDepth = 337.724027; finalDepth = 341.108790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.016296 # Actual altitude: 50 # Commanded vehicle depth:337.724027 # Seafloor depth:-380.740323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952605 meters # Minimum depth: 374.437628 meters looking forward 200.000000 meters along route # Maximum depth: 379.974158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.437628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.372617; longitude = -126.119445; captureRadius = 10; duration = 104; initialDepth = 334.437628; finalDepth = 337.724027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.016296 # Actual altitude: 50 # Commanded vehicle depth:334.437628 # Seafloor depth:-377.166103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.952621 meters # Minimum depth: 369.663698 meters looking forward 200.000000 meters along route # Maximum depth: 376.710698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.663698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.373560; longitude = -126.119410; captureRadius = 10; duration = 104; initialDepth = 329.663698; finalDepth = 334.437628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.91938 # Actual altitude: 50 # Commanded vehicle depth:329.663698 # Seafloor depth:-374.583078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 114.943850 meters # Minimum depth: 365.823036 meters looking forward 200.000000 meters along route # Maximum depth: 372.616375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.823036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.374504; longitude = -126.119375; captureRadius = 10; duration = 114; initialDepth = 325.823036; finalDepth = 329.663698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.91938 # Actual altitude: 50 # Commanded vehicle depth:325.823036 # Seafloor depth:-368.509937 # behavior reson { duration = RESON_DURATION; 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 5.068225 meters # Minimum depth: 365.568100 meters looking forward 200.000000 meters along route # Maximum depth: 372.616375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.568100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.375537; longitude = -126.119337; captureRadius = 10; duration = 5; initialDepth = 325.568100; finalDepth = 325.823036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.686901 # Actual altitude: 50 # Commanded vehicle depth:325.5681 # Seafloor depth:-365.568100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.341708 meters # Minimum depth: 362.684137 meters looking forward 200.000000 meters along route # Maximum depth: 368.120470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.684137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.375582; longitude = -126.119348; captureRadius = 10; duration = 106; initialDepth = 322.684137; finalDepth = 325.568100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.594735 # Actual altitude: 50 # Commanded vehicle depth:322.684137 # Seafloor depth:-365.278872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.341662 meters # Minimum depth: 361.165006 meters looking forward 200.000000 meters along route # Maximum depth: 364.628771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.165006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.376525; longitude = -126.119582; captureRadius = 10; duration = 106; initialDepth = 321.165006; finalDepth = 322.684137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.594735 # Actual altitude: 50 # Commanded vehicle depth:321.165006 # Seafloor depth:-362.492662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.341614 meters # Minimum depth: 357.816998 meters looking forward 200.000000 meters along route # Maximum depth: 362.267064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.816998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.377469; longitude = -126.119816; captureRadius = 10; duration = 106; initialDepth = 317.816998; finalDepth = 321.165006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.070824 # Actual altitude: 50 # Commanded vehicle depth:317.816998 # Seafloor depth:-360.887822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.341568 meters # Minimum depth: 355.646049 meters looking forward 200.000000 meters along route # Maximum depth: 360.549886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.646049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.378412; longitude = -126.120050; captureRadius = 10; duration = 106; initialDepth = 315.646049; finalDepth = 317.816998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.070824 # Actual altitude: 50 # Commanded vehicle depth:315.646049 # Seafloor depth:-357.558715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.666691 meters # Minimum depth: 353.338741 meters looking forward 200.000000 meters along route # Maximum depth: 357.269938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.338741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.379356; longitude = -126.120283; captureRadius = 10; duration = 100; initialDepth = 313.338741; finalDepth = 315.646049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.050347 # Actual altitude: 50 # Commanded vehicle depth:313.338741 # Seafloor depth:-355.389088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.941356 meters # Minimum depth: 351.241973 meters looking forward 200.000000 meters along route # Maximum depth: 355.156797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.241973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.380249; longitude = -126.120505; captureRadius = 10; duration = 101; initialDepth = 311.241973; finalDepth = 313.338741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.056103 # Actual altitude: 50 # Commanded vehicle depth:311.241973 # Seafloor depth:-353.298076 # behavior reson { duration = RESON_DURATION; 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 58.713127 meters # Minimum depth: 349.382335 meters looking forward 200.000000 meters along route # Maximum depth: 353.780331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.382335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.381153; longitude = -126.120729; captureRadius = 10; duration = 58; initialDepth = 309.382335; finalDepth = 311.241973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.056103 # Actual altitude: 50 # Commanded vehicle depth:309.382335 # Seafloor depth:-351.287445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 112.194895 meters # Minimum depth: 347.626396 meters looking forward 200.000000 meters along route # Maximum depth: 351.491140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.626396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.381647; longitude = -126.120448; captureRadius = 10; duration = 112; initialDepth = 307.626396; finalDepth = 309.382335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.961189 # Actual altitude: 50 # Commanded vehicle depth:307.626396 # Seafloor depth:-349.587585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 112.194673 meters # Minimum depth: 345.056878 meters looking forward 200.000000 meters along route # Maximum depth: 348.826669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.056878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.382590; longitude = -126.119912; captureRadius = 10; duration = 112; initialDepth = 305.056878; finalDepth = 307.626396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.359431 # Actual altitude: 50 # Commanded vehicle depth:305.056878 # Seafloor depth:-347.416309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 112.194450 meters # Minimum depth: 340.112350 meters looking forward 200.000000 meters along route # Maximum depth: 346.593864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.112350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.383534; longitude = -126.119375; captureRadius = 10; duration = 112; initialDepth = 300.112350; finalDepth = 305.056878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.835005 # Actual altitude: 50 # Commanded vehicle depth:300.11235 # Seafloor depth:-344.947355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 112.194226 meters # Minimum depth: 337.041034 meters looking forward 200.000000 meters along route # Maximum depth: 343.864940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.041034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.384477; longitude = -126.118839; captureRadius = 10; duration = 112; initialDepth = 297.041034; finalDepth = 300.112350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.835005 # Actual altitude: 50 # Commanded vehicle depth:297.041034 # Seafloor depth:-340.068289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.153932 meters # Minimum depth: 334.823644 meters looking forward 200.000000 meters along route # Maximum depth: 339.364972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.823644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.385420; longitude = -126.118303; captureRadius = 10; duration = 103; initialDepth = 294.823644; finalDepth = 297.041034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.027255 # Actual altitude: 50 # Commanded vehicle depth:294.823644 # Seafloor depth:-337.085011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.206184 meters # Minimum depth: 332.003497 meters looking forward 200.000000 meters along route # Maximum depth: 336.984042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.003497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.386288; longitude = -126.117809; captureRadius = 10; duration = 105; initialDepth = 292.003497; finalDepth = 294.823644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.710331 # Actual altitude: 50 # Commanded vehicle depth:292.003497 # Seafloor depth:-334.713828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.520982 meters # Minimum depth: 329.350974 meters looking forward 200.000000 meters along route # Maximum depth: 334.675962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.350974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.387172; longitude = -126.117306; captureRadius = 10; duration = 101; initialDepth = 289.350974; finalDepth = 292.003497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.710331 # Actual altitude: 50 # Commanded vehicle depth:289.350974 # Seafloor depth:-331.465549 # behavior reson { duration = RESON_DURATION; 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 91.987459 meters # Minimum depth: 326.201871 meters looking forward 200.000000 meters along route # Maximum depth: 331.465549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.201871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388026; longitude = -126.116821; captureRadius = 10; duration = 91; initialDepth = 286.201871; finalDepth = 289.350974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.835475 # Actual altitude: 50 # Commanded vehicle depth:286.201871 # Seafloor depth:-329.037346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 106.341776 meters # Minimum depth: 323.595386 meters looking forward 200.000000 meters along route # Maximum depth: 329.037346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.595386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.388818; longitude = -126.116462; captureRadius = 10; duration = 106; initialDepth = 283.595386; finalDepth = 286.201871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.835475 # Actual altitude: 50 # Commanded vehicle depth:283.595386 # Seafloor depth:-326.079179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.674073 meters # Minimum depth: 320.041482 meters looking forward 200.000000 meters along route # Maximum depth: 325.946677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.041482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.389733; longitude = -126.116046; captureRadius = 10; duration = 100; initialDepth = 280.041482; finalDepth = 283.595386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.686841 # Actual altitude: 50 # Commanded vehicle depth:280.041482 # Seafloor depth:-323.728323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.507741 meters # Minimum depth: 317.973053 meters looking forward 200.000000 meters along route # Maximum depth: 322.873513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.973053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.390600; longitude = -126.115653; captureRadius = 10; duration = 103; initialDepth = 277.973053; finalDepth = 280.041482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.686841 # Actual altitude: 50 # Commanded vehicle depth:277.973053 # Seafloor depth:-319.991953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.507619 meters # Minimum depth: 315.221002 meters looking forward 200.000000 meters along route # Maximum depth: 320.101690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.221002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.391490; longitude = -126.115249; captureRadius = 10; duration = 103; initialDepth = 275.221002; finalDepth = 277.973053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.756739 # Actual altitude: 50 # Commanded vehicle depth:275.221002 # Seafloor depth:-317.977741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.507497 meters # Minimum depth: 310.456141 meters looking forward 200.000000 meters along route # Maximum depth: 317.500568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.456141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.392381; longitude = -126.114844; captureRadius = 10; duration = 103; initialDepth = 270.456141; finalDepth = 275.221002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.634556 # Actual altitude: 50 # Commanded vehicle depth:270.456141 # Seafloor depth:-315.090697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 105.532592 meters # Minimum depth: 308.372379 meters looking forward 200.000000 meters along route # Maximum depth: 314.735040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.372379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.393272; longitude = -126.114440; captureRadius = 10; duration = 105; initialDepth = 268.372379; finalDepth = 270.456141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.634556 # Actual altitude: 50 # Commanded vehicle depth:268.372379 # Seafloor depth:-310.441905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.482034 meters # Minimum depth: 305.862052 meters looking forward 200.000000 meters along route # Maximum depth: 310.475510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.862052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.394180; longitude = -126.114028; captureRadius = 10; duration = 101; initialDepth = 265.862052; finalDepth = 268.372379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.456507 # Actual altitude: 50 # Commanded vehicle depth:265.862052 # Seafloor depth:-308.318559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.507130 meters # Minimum depth: 303.094080 meters looking forward 200.000000 meters along route # Maximum depth: 308.096744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.094080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.395054; longitude = -126.113631; captureRadius = 10; duration = 103; initialDepth = 263.094080; finalDepth = 265.862052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.776635 # Actual altitude: 50 # Commanded vehicle depth:263.09408 # Seafloor depth:-305.870715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.507007 meters # Minimum depth: 300.976226 meters looking forward 200.000000 meters along route # Maximum depth: 305.843805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.976226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.395945; longitude = -126.113227; captureRadius = 10; duration = 103; initialDepth = 260.976226; finalDepth = 263.094080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.776635 # Actual altitude: 50 # Commanded vehicle depth:260.976226 # Seafloor depth:-303.087325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.506886 meters # Minimum depth: 298.015920 meters looking forward 200.000000 meters along route # Maximum depth: 303.272991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.015920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.396836; longitude = -126.112823; captureRadius = 10; duration = 103; initialDepth = 258.015920; finalDepth = 260.976226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.620753 # Actual altitude: 50 # Commanded vehicle depth:258.01592 # Seafloor depth:-300.636673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.723417 meters # Minimum depth: 294.125596 meters looking forward 200.000000 meters along route # Maximum depth: 299.967798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.125596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.397727; longitude = -126.112419; captureRadius = 10; duration = 104; initialDepth = 254.125596; finalDepth = 258.015920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.979126 # Actual altitude: 50 # Commanded vehicle depth:254.125596 # Seafloor depth:-298.104722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 102.289986 meters # Minimum depth: 291.167089 meters looking forward 200.000000 meters along route # Maximum depth: 298.367072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.167089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.398628; longitude = -126.112009; captureRadius = 10; duration = 102; initialDepth = 251.167089; finalDepth = 254.125596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.979126 # Actual altitude: 50 # Commanded vehicle depth:251.167089 # Seafloor depth:-294.108715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 103.506519 meters # Minimum depth: 289.197781 meters looking forward 200.000000 meters along route # Maximum depth: 293.732203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.197781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.399508; longitude = -126.111610; captureRadius = 10; duration = 103; initialDepth = 249.197781; finalDepth = 251.167089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.941626 # Actual altitude: 50 # Commanded vehicle depth:249.197781 # Seafloor depth:-290.900322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 107.369572 meters # Minimum depth: 286.861366 meters looking forward 200.000000 meters along route # Maximum depth: 290.697867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.861366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.400399; longitude = -126.111206; captureRadius = 10; duration = 107; initialDepth = 246.861366; finalDepth = 249.197781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2775 # Actual altitude: 50 # Commanded vehicle depth:246.861366 # Seafloor depth:-289.138866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.607863 meters # Minimum depth: 284.178582 meters looking forward 200.000000 meters along route # Maximum depth: 288.485711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.178582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.401323; longitude = -126.110786; captureRadius = 10; duration = 109; initialDepth = 244.178582; finalDepth = 246.861366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.597777 # Actual altitude: 50 # Commanded vehicle depth:244.178582 # Seafloor depth:-286.776359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.607725 meters # Minimum depth: 281.466114 meters looking forward 200.000000 meters along route # Maximum depth: 286.103021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.466114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.402267; longitude = -126.110358; captureRadius = 10; duration = 109; initialDepth = 241.466114; finalDepth = 244.178582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.597777 # Actual altitude: 50 # Commanded vehicle depth:241.466114 # Seafloor depth:-283.788884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 109.607589 meters # Minimum depth: 278.957522 meters looking forward 200.000000 meters along route # Maximum depth: 283.099119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.957522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.403210; longitude = -126.109930; captureRadius = 10; duration = 109; initialDepth = 238.957522; finalDepth = 241.466114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.32277 # Actual altitude: 50 # Commanded vehicle depth:238.957522 # Seafloor depth:-280.905192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 104.379922 meters # Minimum depth: 276.429785 meters looking forward 200.000000 meters along route # Maximum depth: 280.893081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.429785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.404154; longitude = -126.109502; captureRadius = 10; duration = 104; initialDepth = 236.429785; finalDepth = 238.957522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.94767 # Actual altitude: 50 # Commanded vehicle depth:236.429785 # Seafloor depth:-278.064844 # behavior reson { duration = RESON_DURATION; 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 96.283533 meters # Minimum depth: 274.240545 meters looking forward 200.000000 meters along route # Maximum depth: 277.896374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.240545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.405052; longitude = -126.109094; captureRadius = 10; duration = 96; initialDepth = 234.240545; finalDepth = 236.429785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.982943 # Actual altitude: 50 # Commanded vehicle depth:234.240545 # Seafloor depth:-276.223488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 100.708830 meters # Minimum depth: 271.642884 meters looking forward 200.000000 meters along route # Maximum depth: 276.223488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.642884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.405864; longitude = -126.108645; captureRadius = 10; duration = 100; initialDepth = 231.642884; finalDepth = 234.240545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.07889 # Actual altitude: 50 # Commanded vehicle depth:231.642884 # Seafloor depth:-273.721774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 111.801480 meters # Minimum depth: 269.477377 meters looking forward 200.000000 meters along route # Maximum depth: 273.197722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.477377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.406714; longitude = -126.108175; captureRadius = 10; duration = 111; initialDepth = 229.477377; finalDepth = 231.642884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.07889 # Actual altitude: 50 # Commanded vehicle depth:229.477377 # Seafloor depth:-271.530963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 111.801269 meters # Minimum depth: 267.308271 meters looking forward 200.000000 meters along route # Maximum depth: 270.951752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.308271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.407658; longitude = -126.107654; captureRadius = 10; duration = 111; initialDepth = 227.308271; finalDepth = 229.477377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.104331 # Actual altitude: 50 # Commanded vehicle depth:227.308271 # Seafloor depth:-269.412602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 111.801060 meters # Minimum depth: 266.132073 meters looking forward 200.000000 meters along route # Maximum depth: 269.423517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.132073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.408601; longitude = -126.107132; captureRadius = 10; duration = 111; initialDepth = 226.132073; finalDepth = 227.308271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.104331 # Actual altitude: 50 # Commanded vehicle depth:226.132073 # Seafloor depth:-267.376833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 112.894418 meters # Minimum depth: 263.620198 meters looking forward 200.000000 meters along route # Maximum depth: 267.351384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.620198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.409544; longitude = -126.106611; captureRadius = 10; duration = 112; initialDepth = 223.620198; finalDepth = 226.132073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.565822 # Actual altitude: 50 # Commanded vehicle depth:223.620198 # Seafloor depth:-266.186020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 110.707071 meters # Minimum depth: 261.147030 meters looking forward 200.000000 meters along route # Maximum depth: 265.434112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.147030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.410497; longitude = -126.106084; captureRadius = 10; duration = 110; initialDepth = 221.147030; finalDepth = 223.620198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.565822 # Actual altitude: 50 # Commanded vehicle depth:221.14703 # Seafloor depth:-263.586157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_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 101.173512 meters # Minimum depth: 258.745206 meters looking forward 200.000000 meters along route # Maximum depth: 263.006793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.745206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.411431; longitude = -126.105568; captureRadius = 10; duration = 101; initialDepth = 218.745206; finalDepth = 221.147030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.439127 # Actual altitude: 50 # Commanded vehicle depth:218.745206 # Seafloor depth:-260.908273 # behavior reson { duration = RESON_DURATION; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 42.163067 # Actual altitude: 50 # Commanded vehicle depth:218.449226 # Seafloor depth:-258.449226 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_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: 258.449226 meters looking forward 200.000000 meters along route # Maximum depth: 263.006793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.449226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.412285; longitude = -126.105096; captureRadius = 10; duration = 1000; initialDepth = 218.449226; finalDepth = 218.745206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 198.039632; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 198.039632; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 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; } # ####################################################### #######################################################