# 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: MAUV_Mata_1v12.rte # Mission File: MAUV_Mata_1v12.cfg # Distance: 72723.355856 (m) # Estimated Time: 52976 (s) 14.716 (hr) # Abort Time: 59716 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 3283 (s) # Way Points: 121 # Route Points: 688 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.6 # Subbottom disabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 2782.03418 (m) # Abort Vehicle Depth: 2807.03418 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -173.760432 -15.123281 -2615.404602 0.000000 3 # 1 -173.749548 -15.096974 -1374.109894 3139.340355 1 # 2 -173.749455 -15.095256 -1235.530396 3329.828693 3 # 3 -173.747315 -15.093900 -1213.070892 3604.675695 1 # 4 -173.744059 -15.091731 -1352.308807 4029.371714 1 # 5 -173.742168 -15.090344 -1443.949829 4284.260977 1 # 6 -173.739935 -15.088265 -1528.045258 4616.971974 3 # 7 -173.735004 -15.094684 -1965.131042 5503.840173 4 # 8 -173.736307 -15.095678 -1899.543396 5682.055413 3 # 9 -173.745889 -15.082931 -1899.537994 7429.805297 4 # 10 -173.747315 -15.083866 -1840.198059 7614.880942 3 # 11 -173.737702 -15.096673 -1836.510071 9369.962383 4 # 12 -173.739098 -15.097577 -1779.570068 9550.436564 3 # 13 -173.748587 -15.084920 -1771.716278 11284.238104 4 # 14 -173.749982 -15.085824 -1734.274689 11464.631150 3 # 15 -173.740400 -15.098571 -1721.699402 13212.378657 4 # 16 -173.741796 -15.099475 -1681.001984 13392.852116 3 # 17 -173.751285 -15.086819 -1709.094543 15126.562648 4 # 18 -173.752587 -15.087813 -1690.934296 15304.699585 3 # 19 -173.743098 -15.100469 -1693.042114 17038.409178 4 # 20 -173.744493 -15.101464 -1687.212402 17224.572345 3 # 21 -173.754013 -15.088747 -1700.198578 18965.704570 4 # 22 -173.755378 -15.089712 -1726.651581 19147.310215 3 # 23 -173.745796 -15.102458 -1684.685577 20894.964982 4 # 24 -173.747191 -15.103362 -1705.155609 21075.347443 3 # 25 -173.748153 -15.101404 -1560.022461 21315.597347 1 # 26 -173.749176 -15.100319 -1539.564128 21478.526723 1 # 27 -173.749734 -15.100138 -1557.244303 21541.820753 1 # 28 -173.756711 -15.090646 -1761.565491 22833.306802 4 # 29 -173.758107 -15.091640 -1811.141724 23019.498741 3 # 30 -173.751316 -15.100680 -1631.283529 24258.762977 1 # 31 -173.749796 -15.102006 -1655.798828 24478.468084 1 # 32 -173.748525 -15.104296 -1780.185272 24766.516890 4 # 33 -173.749920 -15.105291 -1870.414490 24952.678698 3 # 34 -173.759409 -15.092544 -1873.589478 26694.539019 4 # 35 -173.760804 -15.093539 -1947.531158 26880.709030 3 # 36 -173.751191 -15.106255 -1947.734467 28627.651312 4 # 37 -173.752525 -15.107189 -2002.752869 28804.532778 3 # 38 -173.762107 -15.094533 -2014.532990 30544.146091 4 # 39 -173.763471 -15.095497 -2090.811768 30725.597572 3 # 40 -173.753889 -15.108244 -2076.337585 32473.336913 4 # 41 -173.755316 -15.109088 -2138.418396 32653.048136 3 # 42 -173.759099 -15.104086 -1861.056803 33340.364507 1 # 43 -173.760804 -15.104206 -1831.198405 33524.317072 1 # 44 -173.761797 -15.102910 -1840.217773 33703.145118 1 # 45 -173.761332 -15.101283 -1843.952311 33890.141246 1 # 46 -173.764805 -15.096431 -2163.426636 34544.549797 3 # 47 -173.756060 -15.093991 -1677.928040 35523.335178 1 # 48 -173.749176 -15.093629 -1263.292145 36264.978381 1 # 49 -173.748401 -15.087904 -1591.876038 36904.337276 1 # 50 -173.740524 -15.088928 -1515.277435 37759.287968 3 # 51 -173.739036 -15.088024 -1551.442220 37948.103134 1 # 52 -173.735315 -15.085945 -1651.861654 38409.900524 1 # 53 -173.734663 -15.084770 -1728.104492 38557.668479 1 # 54 -173.731221 -15.083052 -1844.028961 38973.961892 1 # 55 -173.727035 -15.081967 -1938.224426 39440.042964 1 # 56 -173.723469 -15.081214 -1977.502604 39832.648877 1 # 57 -173.719748 -15.080852 -2069.637512 40234.942377 1 # 58 -173.717360 -15.080159 -2139.748535 40503.057575 1 # 59 -173.715127 -15.079978 -2195.401204 40744.085230 1 # 60 -173.711561 -15.080039 -2324.170532 41127.805935 1 # 61 -173.707561 -15.080219 -2489.969666 41558.587855 1 # 62 -173.703003 -15.080129 -2615.415710 42049.037754 1 # 63 -173.698847 -15.078894 -2698.111816 42516.581902 4 # 64 -173.698475 -15.080069 -2693.388062 42652.694582 3 # 65 -173.703096 -15.081214 -2633.109985 43165.728268 1 # 66 -173.707561 -15.081485 -2515.351318 43647.005635 1 # 67 -173.711778 -15.081425 -2310.491882 44100.717042 1 # 68 -173.714445 -15.081123 -2185.828125 44389.575810 1 # 69 -173.716585 -15.081214 -2130.971680 44619.978763 1 # 70 -173.719500 -15.082058 -2081.794434 44947.235460 1 # 71 -173.723035 -15.082329 -1940.510091 45328.682591 1 # 72 -173.726446 -15.083564 -1887.800415 45720.322925 1 # 73 -173.730353 -15.084559 -1795.635834 46154.835578 1 # 74 -173.733051 -15.085644 -1713.122833 46468.964767 1 # 75 -173.734725 -15.086548 -1664.921539 46674.999591 3 # 76 -173.740586 -15.079225 -2142.552734 47702.152966 4 # 77 -173.741889 -15.080039 -2100.995117 47868.731345 3 # 78 -173.732245 -15.092725 -2052.895833 49615.024058 4 # 79 -173.733609 -15.093780 -2025.976888 49802.590707 3 # 80 -173.737702 -15.088446 -1653.709635 50539.252967 1 # 81 -173.737981 -15.087452 -1589.963216 50653.379146 1 # 82 -173.738912 -15.086909 -1645.392578 50770.096229 1 # 83 -173.743222 -15.081154 -2020.925293 51558.230499 4 # 84 -173.744617 -15.082058 -1956.527018 51738.664951 3 # 85 -173.739749 -15.088627 -1536.981445 52634.983788 3 # 86 -173.739749 -15.092514 -1635.197266 53065.399371 1 # 87 -173.739005 -15.096311 -1764.640299 53493.360707 1 # 88 -173.744028 -15.096944 -1490.047526 54038.291343 1 # 89 -173.748153 -15.095708 -1261.956706 54502.572528 1 # 90 -173.749734 -15.095347 -1243.303223 54677.350538 3 # 91 -173.752153 -15.097155 -1368.704163 55005.689807 1 # 92 -173.754944 -15.099144 -1517.961853 55378.043383 1 # 93 -173.759967 -15.102579 -1727.404938 56038.823962 1 # 94 -173.764588 -15.106978 -1958.781769 56734.776899 1 # 95 -173.768433 -15.110173 -2174.190104 57279.000462 1 # 96 -173.773518 -15.115115 -2437.714661 58052.762294 1 # 97 -173.779224 -15.121382 -2726.474487 58979.183971 4 # 98 -173.780434 -15.119936 -2752.563171 59185.523875 3 # 99 -173.774542 -15.113849 -2433.427124 60110.704901 1 # 100 -173.769518 -15.108877 -2215.403748 60882.166642 1 # 101 -173.765549 -15.105743 -2038.537018 61432.355496 1 # 102 -173.763378 -15.103995 -1905.535156 61735.643589 1 # 103 -173.759936 -15.100650 -1767.592122 62259.354647 4 # 104 -173.758076 -15.100921 -1640.222168 62461.744498 3 # 105 -173.757517 -15.102820 -1748.148112 62680.358224 1 # 106 -173.761146 -15.105894 -1949.271973 63198.190292 1 # 107 -173.763595 -15.108365 -2069.519531 63578.062565 1 # 108 -173.767285 -15.111227 -2270.693522 64086.043220 1 # 109 -173.772402 -15.116290 -2517.093750 64871.628139 1 # 110 -173.779038 -15.123100 -2746.425781 65909.979086 4 # 111 -173.781984 -15.119544 -2807.034180 66415.382864 3 # 112 -173.775658 -15.112764 -2496.216797 67428.627540 1 # 113 -173.770076 -15.107430 -2238.249349 68270.831669 1 # 114 -173.766634 -15.104086 -2125.268229 68794.541351 1 # 115 -173.762386 -15.101765 -1896.008138 69318.814324 4 # 116 -173.759285 -15.106074 -1993.959147 69900.993879 3 # 117 -173.762541 -15.109329 -2154.357096 70403.518603 1 # 118 -173.766169 -15.112583 -2283.223633 70934.715859 1 # 119 -173.771193 -15.117284 -2562.635254 71685.008154 1 # 120 -173.777829 -15.124094 -2736.289714 72723.355856 4 # # A total of 688 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 72723.355856 #define MISSION_TIME 52976 #define MISSION_TIMEOUT 59400 #define DEPTH_MAX 2782.034180 #define DEPTH_ABORT 2807.034180 #define ALTITUDE_DESIRED 75.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 35.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 2530.404602 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3283; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 104.301444 meters # Minimum depth: 2736.289714 meters looking forward 0.000000 meters along route # Maximum depth: 2736.289714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2661.289714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124094; longitude = -173.777829; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2640.465321; finalDepth = 2661.289714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2661.289714 # Seafloor depth:-2736.289714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2715.465321 meters looking forward 0.000000 meters along route # Maximum depth: 2715.465321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2640.465321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123363; longitude = -173.777116; captureRadius = 10; duration = 208; initialDepth = 2627.240668; finalDepth = 2640.465321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2640.465321 # Seafloor depth:-2715.465321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2702.240668 meters looking forward 0.000000 meters along route # Maximum depth: 2702.240668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2627.240668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122694; longitude = -173.776464; captureRadius = 10; duration = 208; initialDepth = 2610.650705; finalDepth = 2627.240668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2627.240668 # Seafloor depth:-2702.240668 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2685.650705 meters looking forward 0.000000 meters along route # Maximum depth: 2685.650705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2610.650705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122026; longitude = -173.775813; captureRadius = 10; duration = 208; initialDepth = 2584.515737; finalDepth = 2610.650705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2610.650705 # Seafloor depth:-2685.650705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2659.515737 meters looking forward 0.000000 meters along route # Maximum depth: 2659.515737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2584.515737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121358; longitude = -173.775162; captureRadius = 10; duration = 208; initialDepth = 2530.081055; finalDepth = 2584.515737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2584.515737 # Seafloor depth:-2659.515737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2605.081055 meters looking forward 0.000000 meters along route # Maximum depth: 2605.081055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2530.081055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120689; longitude = -173.774511; captureRadius = 10; duration = 208; initialDepth = 2503.189759; finalDepth = 2530.081055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2530.081055 # Seafloor depth:-2605.081055 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2578.189759 meters looking forward 0.000000 meters along route # Maximum depth: 2578.189759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2503.189759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120021; longitude = -173.773860; captureRadius = 10; duration = 208; initialDepth = 2546.759375; finalDepth = 2503.189759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2503.189759 # Seafloor depth:-2578.189759 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2621.759375 meters looking forward 0.000000 meters along route # Maximum depth: 2621.759375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2546.759375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119353; longitude = -173.773208; captureRadius = 10; duration = 208; initialDepth = 2531.606384; finalDepth = 2546.759375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2546.759375 # Seafloor depth:-2621.759375 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2606.606384 meters looking forward 0.000000 meters along route # Maximum depth: 2606.606384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2531.606384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118684; longitude = -173.772557; captureRadius = 10; duration = 208; initialDepth = 2512.782596; finalDepth = 2531.606384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2531.606384 # Seafloor depth:-2606.606384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.301444 meters # Minimum depth: 2587.782596 meters looking forward 0.000000 meters along route # Maximum depth: 2587.782596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2512.782596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117977; longitude = -173.771868; captureRadius = 10; duration = 208; initialDepth = 2487.635254; finalDepth = 2512.782596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2512.782596 # Seafloor depth:-2587.782596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 104.301444 meters # Minimum depth: 2562.635254 meters looking forward 0.000000 meters along route # Maximum depth: 2562.635254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2487.635254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117284; longitude = -173.771193; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2451.173177; finalDepth = 2487.635254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2487.635254 # Seafloor depth:-2562.635254 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2526.173177 meters looking forward 0.000000 meters along route # Maximum depth: 2526.173177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2451.173177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116440; longitude = -173.770291; captureRadius = 10; duration = 208; initialDepth = 2428.017509; finalDepth = 2451.173177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2451.173177 # Seafloor depth:-2526.173177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2503.017509 meters looking forward 0.000000 meters along route # Maximum depth: 2503.017509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2428.017509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115808; longitude = -173.769615; captureRadius = 10; duration = 208; initialDepth = 2361.460800; finalDepth = 2428.017509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2428.017509 # Seafloor depth:-2503.017509 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2436.460800 meters looking forward 0.000000 meters along route # Maximum depth: 2436.460800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2361.460800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115175; longitude = -173.768939; captureRadius = 10; duration = 208; initialDepth = 2375.299723; finalDepth = 2361.460800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2361.4608 # Seafloor depth:-2436.460800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2450.299723 meters looking forward 0.000000 meters along route # Maximum depth: 2450.299723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2375.299723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114542; longitude = -173.768262; captureRadius = 10; duration = 208; initialDepth = 2324.759177; finalDepth = 2375.299723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2375.299723 # Seafloor depth:-2450.299723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2399.759177 meters looking forward 0.000000 meters along route # Maximum depth: 2399.759177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.759177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113909; longitude = -173.767586; captureRadius = 10; duration = 208; initialDepth = 2264.994689; finalDepth = 2324.759177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2324.759177 # Seafloor depth:-2399.759177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.301444 meters # Minimum depth: 2339.994689 meters looking forward 0.000000 meters along route # Maximum depth: 2339.994689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2264.994689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113251; longitude = -173.766882; captureRadius = 10; duration = 208; initialDepth = 2208.223633; finalDepth = 2264.994689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2264.994689 # Seafloor depth:-2339.994689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 104.301444 meters # Minimum depth: 2283.223633 meters looking forward 0.000000 meters along route # Maximum depth: 2283.223633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.223633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112583; longitude = -173.766169; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2182.520766; finalDepth = 2208.223633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2208.223633 # Seafloor depth:-2283.223633 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.301444 meters # Minimum depth: 2257.520766 meters looking forward 0.000000 meters along route # Maximum depth: 2257.520766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2182.520766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111920; longitude = -173.765430; captureRadius = 10; duration = 208; initialDepth = 2171.686734; finalDepth = 2182.520766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2182.520766 # Seafloor depth:-2257.520766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.301444 meters # Minimum depth: 2246.686734 meters looking forward 0.000000 meters along route # Maximum depth: 2246.686734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2171.686734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111288; longitude = -173.764725; captureRadius = 10; duration = 208; initialDepth = 2146.311417; finalDepth = 2171.686734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2171.686734 # Seafloor depth:-2246.686734 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.301444 meters # Minimum depth: 2221.311417 meters looking forward 0.000000 meters along route # Maximum depth: 2221.311417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.311417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110636; longitude = -173.763998; captureRadius = 10; duration = 208; initialDepth = 2111.237718; finalDepth = 2146.311417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2146.311417 # Seafloor depth:-2221.311417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.301444 meters # Minimum depth: 2186.237718 meters looking forward 0.000000 meters along route # Maximum depth: 2186.237718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2111.237718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109969; longitude = -173.763254; captureRadius = 10; duration = 208; initialDepth = 2079.357096; finalDepth = 2111.237718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2111.237718 # Seafloor depth:-2186.237718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 104.301444 meters # Minimum depth: 2154.357096 meters looking forward 0.000000 meters along route # Maximum depth: 2154.357096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.357096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109329; longitude = -173.762541; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2064.015739; finalDepth = 2079.357096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2079.357096 # Seafloor depth:-2154.357096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 104.301444 meters # Minimum depth: 2139.015739 meters looking forward 0.000000 meters along route # Maximum depth: 2139.015739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.015739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108740; longitude = -173.761952; captureRadius = 10; duration = 208; initialDepth = 2031.655843; finalDepth = 2064.015739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2064.015739 # Seafloor depth:-2139.015739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 104.301444 meters # Minimum depth: 2106.655843 meters looking forward 0.000000 meters along route # Maximum depth: 2106.655843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.655843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108089; longitude = -173.761301; captureRadius = 10; duration = 208; initialDepth = 1995.922512; finalDepth = 2031.655843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2031.655843 # Seafloor depth:-2106.655843 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 104.301444 meters # Minimum depth: 2070.922512 meters looking forward 0.000000 meters along route # Maximum depth: 2070.922512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.922512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107438; longitude = -173.760649; captureRadius = 10; duration = 208; initialDepth = 1948.917391; finalDepth = 1995.922512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1995.922512 # Seafloor depth:-2070.922512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 104.301444 meters # Minimum depth: 2023.917391 meters looking forward 0.000000 meters along route # Maximum depth: 2023.917391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1948.917391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106767; longitude = -173.759978; captureRadius = 10; duration = 208; initialDepth = 1918.959147; finalDepth = 1948.917391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1948.917391 # Seafloor depth:-2023.917391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 104.301444 meters # Minimum depth: 1993.959147 meters looking forward 0.000000 meters along route # Maximum depth: 1993.959147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.959147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106074; longitude = -173.759285; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1812.101360; finalDepth = 1918.959147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1918.959147 # Seafloor depth:-1993.959147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.301444 meters # Minimum depth: 1887.101360 meters looking forward 0.000000 meters along route # Maximum depth: 1887.101360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.101360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104825; longitude = -173.760184; captureRadius = 10; duration = 208; initialDepth = 1745.887775; finalDepth = 1812.101360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1812.10136 # Seafloor depth:-1887.101360 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.301444 meters # Minimum depth: 1820.887775 meters looking forward 0.000000 meters along route # Maximum depth: 1820.887775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.887775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104049; longitude = -173.760742; captureRadius = 10; duration = 208; initialDepth = 1738.584399; finalDepth = 1745.887775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1745.887775 # Seafloor depth:-1820.887775 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.301444 meters # Minimum depth: 1813.584399 meters looking forward 0.000000 meters along route # Maximum depth: 1813.584399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.584399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103273; longitude = -173.761301; captureRadius = 10; duration = 208; initialDepth = 1766.118059; finalDepth = 1738.584399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1738.584399 # Seafloor depth:-1813.584399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.301444 meters # Minimum depth: 1841.118059 meters looking forward 0.000000 meters along route # Maximum depth: 1841.118059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.118059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102519; longitude = -173.761844; captureRadius = 10; duration = 208; initialDepth = 1821.008138; finalDepth = 1766.118059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1766.118059 # Seafloor depth:-1841.118059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 104.301444 meters # Minimum depth: 1896.008138 meters looking forward 0.000000 meters along route # Maximum depth: 1896.008138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.008138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101765; longitude = -173.762386; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1861.920481; finalDepth = 1821.008138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1821.008138 # Seafloor depth:-1896.008138 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 104.301444 meters # Minimum depth: 1936.920481 meters looking forward 0.000000 meters along route # Maximum depth: 1936.920481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.920481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102247; longitude = -173.763269; captureRadius = 10; duration = 208; initialDepth = 1892.970873; finalDepth = 1861.920481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1861.920481 # Seafloor depth:-1936.920481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 104.301444 meters # Minimum depth: 1967.970873 meters looking forward 0.000000 meters along route # Maximum depth: 1967.970873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.970873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102699; longitude = -173.764096; captureRadius = 10; duration = 208; initialDepth = 1943.128394; finalDepth = 1892.970873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1892.970873 # Seafloor depth:-1967.970873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 104.301444 meters # Minimum depth: 2018.128394 meters looking forward 0.000000 meters along route # Maximum depth: 2018.128394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.128394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103154; longitude = -173.764929; captureRadius = 10; duration = 208; initialDepth = 2002.782400; finalDepth = 1943.128394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1943.128394 # Seafloor depth:-2018.128394 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 104.301444 meters # Minimum depth: 2085.045603 meters looking forward 0.000000 meters along route # Maximum depth: 2085.045603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.782400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103611; longitude = -173.765766; captureRadius = 10; duration = 208; initialDepth = 2050.268229; finalDepth = 2002.782400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2632032299234 # Actual altitude: 82.2632032299234 # Commanded vehicle depth:2002.78239977008 # Seafloor depth:-2085.045603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 329.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.36; MB_Bottom_Detect_Filter_Max_Range = 329.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 104.301444 meters # Minimum depth: 2125.268229 meters looking forward 0.000000 meters along route # Maximum depth: 2125.268229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.268229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104086; longitude = -173.766634; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2048.746094; finalDepth = 2050.268229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2632032299234 # Actual altitude: 82.2632032299234 # Commanded vehicle depth:2050.268229 # Seafloor depth:-2125.268229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 329.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.36; MB_Bottom_Detect_Filter_Max_Range = 329.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 104.301444 meters # Minimum depth: 2123.746094 meters looking forward 0.000000 meters along route # Maximum depth: 2123.746094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.746094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104598; longitude = -173.767161; captureRadius = 10; duration = 208; initialDepth = 2091.728027; finalDepth = 2048.746094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2048.746094 # Seafloor depth:-2123.746094 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 104.301444 meters # Minimum depth: 2166.728027 meters looking forward 0.000000 meters along route # Maximum depth: 2166.728027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.728027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105321; longitude = -173.767906; captureRadius = 10; duration = 208; initialDepth = 2110.661133; finalDepth = 2091.728027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2091.728027 # Seafloor depth:-2166.728027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 104.301444 meters # Minimum depth: 2185.661133 meters looking forward 0.000000 meters along route # Maximum depth: 2185.661133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.661133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106044; longitude = -173.768650; captureRadius = 10; duration = 208; initialDepth = 2139.490723; finalDepth = 2110.661133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2110.661133 # Seafloor depth:-2185.661133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 104.301444 meters # Minimum depth: 2214.490723 meters looking forward 0.000000 meters along route # Maximum depth: 2214.490723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2139.490723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106767; longitude = -173.769394; captureRadius = 10; duration = 208; initialDepth = 2163.249349; finalDepth = 2139.490723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2139.490723 # Seafloor depth:-2214.490723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 104.301444 meters # Minimum depth: 2238.249349 meters looking forward 0.000000 meters along route # Maximum depth: 2238.249349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.249349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107430; longitude = -173.770076; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2219.818346; finalDepth = 2163.249349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2163.249349 # Seafloor depth:-2238.249349 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2294.818346 meters looking forward 0.000000 meters along route # Maximum depth: 2294.818346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2219.818346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108112; longitude = -173.770790; captureRadius = 10; duration = 208; initialDepth = 2260.624764; finalDepth = 2219.818346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2219.818346 # Seafloor depth:-2294.818346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2335.624764 meters looking forward 0.000000 meters along route # Maximum depth: 2335.624764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.624764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108756; longitude = -173.771464; captureRadius = 10; duration = 208; initialDepth = 2311.817920; finalDepth = 2260.624764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2260.624764 # Seafloor depth:-2335.624764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2386.817920 meters looking forward 0.000000 meters along route # Maximum depth: 2386.817920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2311.817920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109445; longitude = -173.772185; captureRadius = 10; duration = 208; initialDepth = 2320.622208; finalDepth = 2311.817920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2311.81792 # Seafloor depth:-2386.817920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2395.622208 meters looking forward 0.000000 meters along route # Maximum depth: 2395.622208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2320.622208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110112; longitude = -173.772883; captureRadius = 10; duration = 208; initialDepth = 2357.470943; finalDepth = 2320.622208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2320.622208 # Seafloor depth:-2395.622208 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2432.470943 meters looking forward 0.000000 meters along route # Maximum depth: 2432.470943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2357.470943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110779; longitude = -173.773580; captureRadius = 10; duration = 208; initialDepth = 2370.726332; finalDepth = 2357.470943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2357.470943 # Seafloor depth:-2432.470943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2445.726332 meters looking forward 0.000000 meters along route # Maximum depth: 2445.726332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2370.726332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111468; longitude = -173.774302; captureRadius = 10; duration = 208; initialDepth = 2404.513197; finalDepth = 2370.726332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2370.726332 # Seafloor depth:-2445.726332 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 104.301444 meters # Minimum depth: 2479.513197 meters looking forward 0.000000 meters along route # Maximum depth: 2479.513197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2404.513197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112112; longitude = -173.774976; captureRadius = 10; duration = 208; initialDepth = 2421.216797; finalDepth = 2404.513197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2404.513197 # Seafloor depth:-2479.513197 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 104.301444 meters # Minimum depth: 2496.216797 meters looking forward 0.000000 meters along route # Maximum depth: 2496.216797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2421.216797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112764; longitude = -173.775658; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2485.460864; finalDepth = 2421.216797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2421.216797 # Seafloor depth:-2496.216797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2560.460864 meters looking forward 0.000000 meters along route # Maximum depth: 2560.460864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2485.460864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113927; longitude = -173.776743; captureRadius = 10; duration = 208; initialDepth = 2533.394472; finalDepth = 2485.460864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2485.460864 # Seafloor depth:-2560.460864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2608.394472 meters looking forward 0.000000 meters along route # Maximum depth: 2608.394472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2533.394472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114632; longitude = -173.777401; captureRadius = 10; duration = 208; initialDepth = 2535.793674; finalDepth = 2533.394472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2533.394472 # Seafloor depth:-2608.394472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2610.793674 meters looking forward 0.000000 meters along route # Maximum depth: 2610.793674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2535.793674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115323; longitude = -173.778046; captureRadius = 10; duration = 208; initialDepth = 2571.990220; finalDepth = 2535.793674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2535.793674 # Seafloor depth:-2610.793674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2646.990220 meters looking forward 0.000000 meters along route # Maximum depth: 2646.990220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2571.990220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116021; longitude = -173.778697; captureRadius = 10; duration = 208; initialDepth = 2623.109517; finalDepth = 2571.990220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2571.99022 # Seafloor depth:-2646.990220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2698.109517 meters looking forward 0.000000 meters along route # Maximum depth: 2698.109517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2623.109517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116719; longitude = -173.779348; captureRadius = 10; duration = 208; initialDepth = 2653.683241; finalDepth = 2623.109517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2623.109517 # Seafloor depth:-2698.109517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2728.683241 meters looking forward 0.000000 meters along route # Maximum depth: 2728.683241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2653.683241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117435; longitude = -173.780016; captureRadius = 10; duration = 208; initialDepth = 2685.681362; finalDepth = 2653.683241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2653.683241 # Seafloor depth:-2728.683241 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2760.681362 meters looking forward 0.000000 meters along route # Maximum depth: 2760.681362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2685.681362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118115; longitude = -173.780651; captureRadius = 10; duration = 208; initialDepth = 2690.267746; finalDepth = 2685.681362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2685.681362 # Seafloor depth:-2760.681362 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 104.301444 meters # Minimum depth: 2765.267746 meters looking forward 0.000000 meters along route # Maximum depth: 2765.267746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2690.267746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118813; longitude = -173.781302; captureRadius = 10; duration = 208; initialDepth = 2732.034180; finalDepth = 2690.267746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2690.267746 # Seafloor depth:-2765.267746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 104.301444 meters # Minimum depth: 2807.034180 meters looking forward 0.000000 meters along route # Maximum depth: 2807.034180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2732.034180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119544; longitude = -173.781984; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2692.193945; finalDepth = 2732.034180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2732.03418 # Seafloor depth:-2807.034180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 104.301444 meters # Minimum depth: 2767.193945 meters looking forward 0.000000 meters along route # Maximum depth: 2767.193945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2692.193945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120255; longitude = -173.781395; captureRadius = 10; duration = 208; initialDepth = 2662.830616; finalDepth = 2692.193945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2692.193945 # Seafloor depth:-2767.193945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 104.301444 meters # Minimum depth: 2737.830616 meters looking forward 0.000000 meters along route # Maximum depth: 2737.830616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2662.830616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120961; longitude = -173.780811; captureRadius = 10; duration = 208; initialDepth = 2657.022982; finalDepth = 2662.830616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2662.830616 # Seafloor depth:-2737.830616 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 104.301444 meters # Minimum depth: 2732.022982 meters looking forward 0.000000 meters along route # Maximum depth: 2732.022982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2657.022982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121684; longitude = -173.780212; captureRadius = 10; duration = 208; initialDepth = 2641.164746; finalDepth = 2657.022982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2657.022982 # Seafloor depth:-2732.022982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 104.301444 meters # Minimum depth: 2716.164746 meters looking forward 0.000000 meters along route # Maximum depth: 2716.164746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2641.164746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122389; longitude = -173.779627; captureRadius = 10; duration = 208; initialDepth = 2671.425781; finalDepth = 2641.164746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2641.164746 # Seafloor depth:-2716.164746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 104.301444 meters # Minimum depth: 2746.425781 meters looking forward 0.000000 meters along route # Maximum depth: 2746.425781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2671.425781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123100; longitude = -173.779038; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2654.291362; finalDepth = 2671.425781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2671.425781 # Seafloor depth:-2746.425781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2729.291362 meters looking forward 0.000000 meters along route # Maximum depth: 2729.291362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2654.291362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122368; longitude = -173.778325; captureRadius = 10; duration = 208; initialDepth = 2640.091441; finalDepth = 2654.291362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2654.291362 # Seafloor depth:-2729.291362 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2715.091441 meters looking forward 0.000000 meters along route # Maximum depth: 2715.091441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2640.091441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121700; longitude = -173.777674; captureRadius = 10; duration = 208; initialDepth = 2629.200693; finalDepth = 2640.091441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2640.091441 # Seafloor depth:-2715.091441 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2704.200693 meters looking forward 0.000000 meters along route # Maximum depth: 2704.200693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2629.200693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121032; longitude = -173.777023; captureRadius = 10; duration = 208; initialDepth = 2597.552814; finalDepth = 2629.200693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2629.200693 # Seafloor depth:-2704.200693 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2672.552814 meters looking forward 0.000000 meters along route # Maximum depth: 2672.552814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2597.552814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120363; longitude = -173.776371; captureRadius = 10; duration = 208; initialDepth = 2541.393799; finalDepth = 2597.552814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2597.552814 # Seafloor depth:-2672.552814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2616.393799 meters looking forward 0.000000 meters along route # Maximum depth: 2616.393799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2541.393799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119695; longitude = -173.775720; captureRadius = 10; duration = 208; initialDepth = 2542.673871; finalDepth = 2541.393799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2541.393799 # Seafloor depth:-2616.393799 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2617.673871 meters looking forward 0.000000 meters along route # Maximum depth: 2617.673871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2542.673871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119027; longitude = -173.775069; captureRadius = 10; duration = 208; initialDepth = 2528.746021; finalDepth = 2542.673871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2542.673871 # Seafloor depth:-2617.673871 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2603.746021 meters looking forward 0.000000 meters along route # Maximum depth: 2603.746021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2528.746021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118358; longitude = -173.774418; captureRadius = 10; duration = 208; initialDepth = 2476.132758; finalDepth = 2528.746021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2528.746021 # Seafloor depth:-2603.746021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2551.132758 meters looking forward 0.000000 meters along route # Maximum depth: 2551.132758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2476.132758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117690; longitude = -173.773766; captureRadius = 10; duration = 208; initialDepth = 2457.744674; finalDepth = 2476.132758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2476.132758 # Seafloor depth:-2551.132758 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 104.301444 meters # Minimum depth: 2532.744674 meters looking forward 0.000000 meters along route # Maximum depth: 2532.744674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2457.744674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116983; longitude = -173.773077; captureRadius = 10; duration = 208; initialDepth = 2442.093750; finalDepth = 2457.744674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2457.744674 # Seafloor depth:-2532.744674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 104.301444 meters # Minimum depth: 2517.093750 meters looking forward 0.000000 meters along route # Maximum depth: 2517.093750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2442.093750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116290; longitude = -173.772402; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2407.991131; finalDepth = 2442.093750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2442.09375 # Seafloor depth:-2517.093750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2482.991131 meters looking forward 0.000000 meters along route # Maximum depth: 2482.991131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2407.991131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115339; longitude = -173.771441; captureRadius = 10; duration = 208; initialDepth = 2376.045875; finalDepth = 2407.991131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2407.991131 # Seafloor depth:-2482.991131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2451.045875 meters looking forward 0.000000 meters along route # Maximum depth: 2451.045875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2376.045875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114632; longitude = -173.770727; captureRadius = 10; duration = 208; initialDepth = 2356.667698; finalDepth = 2376.045875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2376.045875 # Seafloor depth:-2451.045875 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2431.667698 meters looking forward 0.000000 meters along route # Maximum depth: 2431.667698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2356.667698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113958; longitude = -173.770045; captureRadius = 10; duration = 208; initialDepth = 2321.633824; finalDepth = 2356.667698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2356.667698 # Seafloor depth:-2431.667698 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2396.633824 meters looking forward 0.000000 meters along route # Maximum depth: 2396.633824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.633824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113276; longitude = -173.769356; captureRadius = 10; duration = 208; initialDepth = 2268.386654; finalDepth = 2321.633824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2321.633824 # Seafloor depth:-2396.633824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2343.386654 meters looking forward 0.000000 meters along route # Maximum depth: 2343.386654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2268.386654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112577; longitude = -173.768650; captureRadius = 10; duration = 208; initialDepth = 2233.239547; finalDepth = 2268.386654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2268.386654 # Seafloor depth:-2343.386654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 104.301444 meters # Minimum depth: 2308.239547 meters looking forward 0.000000 meters along route # Maximum depth: 2308.239547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.239547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111920; longitude = -173.767986; captureRadius = 10; duration = 208; initialDepth = 2195.693522; finalDepth = 2233.239547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2233.239547 # Seafloor depth:-2308.239547 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 104.301444 meters # Minimum depth: 2270.693522 meters looking forward 0.000000 meters along route # Maximum depth: 2270.693522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2195.693522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111227; longitude = -173.767285; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2159.673500; finalDepth = 2195.693522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2195.693522 # Seafloor depth:-2270.693522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 104.301444 meters # Minimum depth: 2234.673500 meters looking forward 0.000000 meters along route # Maximum depth: 2234.673500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.673500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110698; longitude = -173.766603; captureRadius = 10; duration = 208; initialDepth = 2123.264769; finalDepth = 2159.673500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2159.6735 # Seafloor depth:-2234.673500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 104.301444 meters # Minimum depth: 2198.264769 meters looking forward 0.000000 meters along route # Maximum depth: 2198.264769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.264769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110112; longitude = -173.765848; captureRadius = 10; duration = 208; initialDepth = 2067.922952; finalDepth = 2123.264769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2123.264769 # Seafloor depth:-2198.264769 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 104.301444 meters # Minimum depth: 2142.922952 meters looking forward 0.000000 meters along route # Maximum depth: 2142.922952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.922952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109543; longitude = -173.765115; captureRadius = 10; duration = 208; initialDepth = 2023.155713; finalDepth = 2067.922952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2067.922952 # Seafloor depth:-2142.922952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 104.301444 meters # Minimum depth: 2098.155713 meters looking forward 0.000000 meters along route # Maximum depth: 2098.155713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.155713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108937; longitude = -173.764333; captureRadius = 10; duration = 208; initialDepth = 1994.519531; finalDepth = 2023.155713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2023.155713 # Seafloor depth:-2098.155713 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 104.301444 meters # Minimum depth: 2069.519531 meters looking forward 0.000000 meters along route # Maximum depth: 2069.519531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.519531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108365; longitude = -173.763595; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1953.785237; finalDepth = 1994.519531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1994.519531 # Seafloor depth:-2069.519531 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 104.301444 meters # Minimum depth: 2028.785237 meters looking forward 0.000000 meters along route # Maximum depth: 2028.785237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.785237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107270; longitude = -173.762510; captureRadius = 10; duration = 208; initialDepth = 1915.266095; finalDepth = 1953.785237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1953.785237 # Seafloor depth:-2028.785237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 104.301444 meters # Minimum depth: 1990.266095 meters looking forward 0.000000 meters along route # Maximum depth: 1990.266095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.266095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106587; longitude = -173.761833; captureRadius = 10; duration = 208; initialDepth = 1874.271973; finalDepth = 1915.266095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1915.266095 # Seafloor depth:-1990.266095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 104.301444 meters # Minimum depth: 1949.271973 meters looking forward 0.000000 meters along route # Maximum depth: 1949.271973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.271973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105894; longitude = -173.761146; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1847.516610; finalDepth = 1874.271973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1874.271973 # Seafloor depth:-1949.271973 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 104.301444 meters # Minimum depth: 1922.516610 meters looking forward 0.000000 meters along route # Maximum depth: 1922.516610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.516610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105316; longitude = -173.760463; captureRadius = 10; duration = 208; initialDepth = 1814.074756; finalDepth = 1847.516610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1847.51661 # Seafloor depth:-1922.516610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 104.301444 meters # Minimum depth: 1889.074756 meters looking forward 0.000000 meters along route # Maximum depth: 1889.074756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.074756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104685; longitude = -173.759719; captureRadius = 10; duration = 208; initialDepth = 1787.422709; finalDepth = 1814.074756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1814.074756 # Seafloor depth:-1889.074756 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 104.301444 meters # Minimum depth: 1862.422709 meters looking forward 0.000000 meters along route # Maximum depth: 1862.422709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.422709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104055; longitude = -173.758975; captureRadius = 10; duration = 208; initialDepth = 1745.917105; finalDepth = 1787.422709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1787.422709 # Seafloor depth:-1862.422709 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 104.301444 meters # Minimum depth: 1820.917105 meters looking forward 0.000000 meters along route # Maximum depth: 1820.917105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.917105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103423; longitude = -173.758229; captureRadius = 10; duration = 208; initialDepth = 1673.148112; finalDepth = 1745.917105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1745.917105 # Seafloor depth:-1820.917105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 104.301444 meters # Minimum depth: 1748.148112 meters looking forward 0.000000 meters along route # Maximum depth: 1748.148112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.148112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102820; longitude = -173.757517; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1600.760271; finalDepth = 1673.148112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1673.148112 # Seafloor depth:-1748.148112 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 104.301444 meters # Minimum depth: 1675.760271 meters looking forward 0.000000 meters along route # Maximum depth: 1675.760271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.760271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.757819; captureRadius = 10; duration = 208; initialDepth = 1565.222168; finalDepth = 1600.760271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1600.760271 # Seafloor depth:-1675.760271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 104.301444 meters # Minimum depth: 1640.222168 meters looking forward 0.000000 meters along route # Maximum depth: 1640.222168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.222168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100921; longitude = -173.758076; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1621.699548; finalDepth = 1565.222168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1565.222168 # Seafloor depth:-1640.222168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 104.301444 meters # Minimum depth: 1699.574941 meters looking forward 0.000000 meters along route # Maximum depth: 1699.574941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.699548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100790; longitude = -173.758975; captureRadius = 10; duration = 208; initialDepth = 1682.072001; finalDepth = 1621.699548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 77.8753933788093 # Actual altitude: 77.8753933788093 # Commanded vehicle depth:1621.69954762119 # Seafloor depth:-1699.574941 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 311.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.73; MB_Bottom_Detect_Filter_Max_Range = 311.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 104.301444 meters # Minimum depth: 1767.592122 meters looking forward 0.000000 meters along route # Maximum depth: 1767.592122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.072001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100650; longitude = -173.759936; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1718.283691; finalDepth = 1682.072001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5201214541307 # Actual altitude: 85.5201214541307 # Commanded vehicle depth:1682.07200054587 # Seafloor depth:-1767.592122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 342.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.31; MB_Bottom_Detect_Filter_Max_Range = 342.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 104.301444 meters # Minimum depth: 1793.283691 meters looking forward 0.000000 meters along route # Maximum depth: 1793.283691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.283691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101163; longitude = -173.760463; captureRadius = 10; duration = 208; initialDepth = 1735.483521; finalDepth = 1718.283691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5201214541307 # Actual altitude: 85.5201214541307 # Commanded vehicle depth:1718.283691 # Seafloor depth:-1793.283691 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 342.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.31; MB_Bottom_Detect_Filter_Max_Range = 342.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 104.301444 meters # Minimum depth: 1810.483521 meters looking forward 0.000000 meters along route # Maximum depth: 1810.483521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.483521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101886; longitude = -173.761208; captureRadius = 10; duration = 208; initialDepth = 1773.294189; finalDepth = 1735.483521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1735.483521 # Seafloor depth:-1810.483521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 104.301444 meters # Minimum depth: 1848.294189 meters looking forward 0.000000 meters along route # Maximum depth: 1848.294189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.294189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102609; longitude = -173.761952; captureRadius = 10; duration = 208; initialDepth = 1810.609009; finalDepth = 1773.294189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1773.294189 # Seafloor depth:-1848.294189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 104.301444 meters # Minimum depth: 1885.609009 meters looking forward 0.000000 meters along route # Maximum depth: 1885.609009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.609009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103332; longitude = -173.762696; captureRadius = 10; duration = 208; initialDepth = 1830.535156; finalDepth = 1810.609009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1810.609009 # Seafloor depth:-1885.609009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 104.301444 meters # Minimum depth: 1905.535156 meters looking forward 0.000000 meters along route # Maximum depth: 1905.535156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.535156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103995; longitude = -173.763378; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1851.079414; finalDepth = 1830.535156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1830.535156 # Seafloor depth:-1905.535156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 104.301444 meters # Minimum depth: 1926.079414 meters looking forward 0.000000 meters along route # Maximum depth: 1926.079414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.079414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.764014; captureRadius = 10; duration = 208; initialDepth = 1914.474873; finalDepth = 1851.079414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1851.079414 # Seafloor depth:-1926.079414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 104.301444 meters # Minimum depth: 1991.828173 meters looking forward 0.000000 meters along route # Maximum depth: 1991.828173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.474873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105140; longitude = -173.764800; captureRadius = 10; duration = 208; initialDepth = 1963.537018; finalDepth = 1914.474873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.353300128201 # Actual altitude: 77.353300128201 # Commanded vehicle depth:1914.4748728718 # Seafloor depth:-1991.828173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.41; MB_Bottom_Detect_Filter_Max_Range = 309.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 104.301444 meters # Minimum depth: 2038.537018 meters looking forward 0.000000 meters along route # Maximum depth: 2038.537018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.537018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105743; longitude = -173.765549; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2025.336368; finalDepth = 1963.537018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.353300128201 # Actual altitude: 77.353300128201 # Commanded vehicle depth:1963.537018 # Seafloor depth:-2038.537018 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.41; MB_Bottom_Detect_Filter_Max_Range = 309.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.301444 meters # Minimum depth: 2100.336368 meters looking forward 0.000000 meters along route # Maximum depth: 2100.336368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.336368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106502; longitude = -173.766510; captureRadius = 10; duration = 208; initialDepth = 2059.604620; finalDepth = 2025.336368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2025.336368 # Seafloor depth:-2100.336368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.301444 meters # Minimum depth: 2134.604620 meters looking forward 0.000000 meters along route # Maximum depth: 2134.604620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.604620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107090; longitude = -173.767254; captureRadius = 10; duration = 208; initialDepth = 2090.553403; finalDepth = 2059.604620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2059.60462 # Seafloor depth:-2134.604620 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.301444 meters # Minimum depth: 2165.553403 meters looking forward 0.000000 meters along route # Maximum depth: 2165.553403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.553403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107677; longitude = -173.767999; captureRadius = 10; duration = 208; initialDepth = 2120.745209; finalDepth = 2090.553403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2090.553403 # Seafloor depth:-2165.553403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.301444 meters # Minimum depth: 2195.745209 meters looking forward 0.000000 meters along route # Maximum depth: 2195.745209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.745209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108304; longitude = -173.768793; captureRadius = 10; duration = 208; initialDepth = 2140.403748; finalDepth = 2120.745209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2120.745209 # Seafloor depth:-2195.745209 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 104.301444 meters # Minimum depth: 2215.403748 meters looking forward 0.000000 meters along route # Maximum depth: 2215.403748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.403748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108877; longitude = -173.769518; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2181.242517; finalDepth = 2140.403748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2140.403748 # Seafloor depth:-2215.403748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2256.242517 meters looking forward 0.000000 meters along route # Maximum depth: 2256.242517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2181.242517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109767; longitude = -173.770417; captureRadius = 10; duration = 208; initialDepth = 2224.106642; finalDepth = 2181.242517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2181.242517 # Seafloor depth:-2256.242517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2299.106642 meters looking forward 0.000000 meters along route # Maximum depth: 2299.106642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.106642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110474; longitude = -173.771132; captureRadius = 10; duration = 208; initialDepth = 2260.195625; finalDepth = 2224.106642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2224.106642 # Seafloor depth:-2299.106642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2335.195625 meters looking forward 0.000000 meters along route # Maximum depth: 2335.195625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.195625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111148; longitude = -173.771813; captureRadius = 10; duration = 208; initialDepth = 2291.159265; finalDepth = 2260.195625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2260.195625 # Seafloor depth:-2335.195625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2366.159265 meters looking forward 0.000000 meters along route # Maximum depth: 2366.159265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2291.159265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111830; longitude = -173.772502; captureRadius = 10; duration = 208; initialDepth = 2341.016594; finalDepth = 2291.159265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2291.159265 # Seafloor depth:-2366.159265 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2416.016594 meters looking forward 0.000000 meters along route # Maximum depth: 2416.016594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.016594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112529; longitude = -173.773208; captureRadius = 10; duration = 208; initialDepth = 2352.027955; finalDepth = 2341.016594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2341.016594 # Seafloor depth:-2416.016594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 104.301444 meters # Minimum depth: 2427.027955 meters looking forward 0.000000 meters along route # Maximum depth: 2427.027955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.027955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113186; longitude = -173.773872; captureRadius = 10; duration = 208; initialDepth = 2358.427124; finalDepth = 2352.027955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2352.027955 # Seafloor depth:-2427.027955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 104.301444 meters # Minimum depth: 2433.427124 meters looking forward 0.000000 meters along route # Maximum depth: 2433.427124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2358.427124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113849; longitude = -173.774542; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2404.991423; finalDepth = 2358.427124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2358.427124 # Seafloor depth:-2433.427124 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2479.991423 meters looking forward 0.000000 meters along route # Maximum depth: 2479.991423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2404.991423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114489; longitude = -173.775162; captureRadius = 10; duration = 208; initialDepth = 2465.135406; finalDepth = 2404.991423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2404.991423 # Seafloor depth:-2479.991423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2544.965212 meters looking forward 0.000000 meters along route # Maximum depth: 2544.965212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2465.135406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115175; longitude = -173.775825; captureRadius = 10; duration = 208; initialDepth = 2490.941945; finalDepth = 2465.135406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8298056964832 # Actual altitude: 79.8298056964832 # Commanded vehicle depth:2465.13540630352 # Seafloor depth:-2544.965212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 319.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.90; MB_Bottom_Detect_Filter_Max_Range = 319.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2565.941945 meters looking forward 0.000000 meters along route # Maximum depth: 2565.941945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2490.941945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115835; longitude = -173.776464; captureRadius = 10; duration = 208; initialDepth = 2526.152184; finalDepth = 2490.941945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8298056964832 # Actual altitude: 79.8298056964832 # Commanded vehicle depth:2490.941945 # Seafloor depth:-2565.941945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 319.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.90; MB_Bottom_Detect_Filter_Max_Range = 319.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2601.152184 meters looking forward 0.000000 meters along route # Maximum depth: 2601.152184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2526.152184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116508; longitude = -173.777116; captureRadius = 10; duration = 208; initialDepth = 2550.141804; finalDepth = 2526.152184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2526.152184 # Seafloor depth:-2601.152184 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2625.141804 meters looking forward 0.000000 meters along route # Maximum depth: 2625.141804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2550.141804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117180; longitude = -173.777767; captureRadius = 10; duration = 208; initialDepth = 2599.154212; finalDepth = 2550.141804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2550.141804 # Seafloor depth:-2625.141804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2674.154212 meters looking forward 0.000000 meters along route # Maximum depth: 2674.154212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2599.154212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117853; longitude = -173.778418; captureRadius = 10; duration = 208; initialDepth = 2648.253029; finalDepth = 2599.154212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2599.154212 # Seafloor depth:-2674.154212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2723.253029 meters looking forward 0.000000 meters along route # Maximum depth: 2723.253029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2648.253029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118526; longitude = -173.779069; captureRadius = 10; duration = 208; initialDepth = 2669.953300; finalDepth = 2648.253029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2648.253029 # Seafloor depth:-2723.253029 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 104.301444 meters # Minimum depth: 2744.953300 meters looking forward 0.000000 meters along route # Maximum depth: 2744.953300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2669.953300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119243; longitude = -173.779763; captureRadius = 10; duration = 208; initialDepth = 2677.563171; finalDepth = 2669.953300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2669.9533 # Seafloor depth:-2744.953300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 104.301444 meters # Minimum depth: 2752.563171 meters looking forward 0.000000 meters along route # Maximum depth: 2752.563171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2677.563171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119936; longitude = -173.780434; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2650.324716; finalDepth = 2677.563171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2677.563171 # Seafloor depth:-2752.563171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 104.301444 meters # Minimum depth: 2725.324716 meters looking forward 0.000000 meters along route # Maximum depth: 2725.324716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2650.324716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120678; longitude = -173.779813; captureRadius = 10; duration = 208; initialDepth = 2651.474487; finalDepth = 2650.324716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2650.324716 # Seafloor depth:-2725.324716 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 104.301444 meters # Minimum depth: 2726.474487 meters looking forward 0.000000 meters along route # Maximum depth: 2726.474487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2651.474487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121382; longitude = -173.779224; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2625.718630; finalDepth = 2651.474487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2651.474487 # Seafloor depth:-2726.474487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2700.718630 meters looking forward 0.000000 meters along route # Maximum depth: 2700.718630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2625.718630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120780; longitude = -173.778676; captureRadius = 10; duration = 208; initialDepth = 2603.386177; finalDepth = 2625.718630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2625.71863 # Seafloor depth:-2700.718630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2678.386177 meters looking forward 0.000000 meters along route # Maximum depth: 2678.386177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2603.386177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120057; longitude = -173.778017; captureRadius = 10; duration = 208; initialDepth = 2602.455369; finalDepth = 2603.386177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2603.386177 # Seafloor depth:-2678.386177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2677.455369 meters looking forward 0.000000 meters along route # Maximum depth: 2677.455369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2602.455369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119373; longitude = -173.777395; captureRadius = 10; duration = 208; initialDepth = 2554.213879; finalDepth = 2602.455369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2602.455369 # Seafloor depth:-2677.455369 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2629.213879 meters looking forward 0.000000 meters along route # Maximum depth: 2629.213879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2554.213879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118658; longitude = -173.776743; captureRadius = 10; duration = 208; initialDepth = 2506.133339; finalDepth = 2554.213879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2554.213879 # Seafloor depth:-2629.213879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2581.133339 meters looking forward 0.000000 meters along route # Maximum depth: 2581.133339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2506.133339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117942; longitude = -173.776092; captureRadius = 10; duration = 208; initialDepth = 2494.984519; finalDepth = 2506.133339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2506.133339 # Seafloor depth:-2581.133339 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2569.984519 meters looking forward 0.000000 meters along route # Maximum depth: 2569.984519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2494.984519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117227; longitude = -173.775441; captureRadius = 10; duration = 208; initialDepth = 2457.995287; finalDepth = 2494.984519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2494.984519 # Seafloor depth:-2569.984519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2532.995287 meters looking forward 0.000000 meters along route # Maximum depth: 2532.995287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2457.995287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116512; longitude = -173.774790; captureRadius = 10; duration = 208; initialDepth = 2406.557262; finalDepth = 2457.995287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2457.995287 # Seafloor depth:-2532.995287 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 104.301444 meters # Minimum depth: 2481.557262 meters looking forward 0.000000 meters along route # Maximum depth: 2481.557262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2406.557262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115797; longitude = -173.774139; captureRadius = 10; duration = 208; initialDepth = 2362.714661; finalDepth = 2406.557262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2406.557262 # Seafloor depth:-2481.557262 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 104.301444 meters # Minimum depth: 2437.714661 meters looking forward 0.000000 meters along route # Maximum depth: 2437.714661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2362.714661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115115; longitude = -173.773518; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2326.165936; finalDepth = 2362.714661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2362.714661 # Seafloor depth:-2437.714661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2401.165936 meters looking forward 0.000000 meters along route # Maximum depth: 2401.165936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.165936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114452; longitude = -173.772835; captureRadius = 10; duration = 208; initialDepth = 2297.239892; finalDepth = 2326.165936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2326.165936 # Seafloor depth:-2401.165936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2372.239892 meters looking forward 0.000000 meters along route # Maximum depth: 2372.239892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.239892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113728; longitude = -173.772091; captureRadius = 10; duration = 208; initialDepth = 2261.569236; finalDepth = 2297.239892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2297.239892 # Seafloor depth:-2372.239892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2336.569236 meters looking forward 0.000000 meters along route # Maximum depth: 2336.569236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.569236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113005; longitude = -173.771347; captureRadius = 10; duration = 208; initialDepth = 2242.259201; finalDepth = 2261.569236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2261.569236 # Seafloor depth:-2336.569236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2317.259201 meters looking forward 0.000000 meters along route # Maximum depth: 2317.259201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2242.259201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112282; longitude = -173.770603; captureRadius = 10; duration = 208; initialDepth = 2176.154378; finalDepth = 2242.259201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2242.259201 # Seafloor depth:-2317.259201 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2251.154378 meters looking forward 0.000000 meters along route # Maximum depth: 2251.154378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2176.154378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111559; longitude = -173.769859; captureRadius = 10; duration = 208; initialDepth = 2108.067641; finalDepth = 2176.154378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2176.154378 # Seafloor depth:-2251.154378 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 104.301444 meters # Minimum depth: 2183.067641 meters looking forward 0.000000 meters along route # Maximum depth: 2183.067641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.067641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110836; longitude = -173.769115; captureRadius = 10; duration = 208; initialDepth = 2099.190104; finalDepth = 2108.067641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2108.067641 # Seafloor depth:-2183.067641 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 104.301444 meters # Minimum depth: 2174.190104 meters looking forward 0.000000 meters along route # Maximum depth: 2174.190104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.190104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110173; longitude = -173.768433; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2026.102893; finalDepth = 2099.190104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2099.190104 # Seafloor depth:-2174.190104 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 104.301444 meters # Minimum depth: 2101.102893 meters looking forward 0.000000 meters along route # Maximum depth: 2101.102893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.102893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109425; longitude = -173.767534; captureRadius = 10; duration = 208; initialDepth = 1993.950949; finalDepth = 2026.102893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2026.102893 # Seafloor depth:-2101.102893 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 104.301444 meters # Minimum depth: 2068.950949 meters looking forward 0.000000 meters along route # Maximum depth: 2068.950949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.950949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108807; longitude = -173.766789; captureRadius = 10; duration = 208; initialDepth = 1965.241911; finalDepth = 1993.950949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1993.950949 # Seafloor depth:-2068.950949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 104.301444 meters # Minimum depth: 2040.241911 meters looking forward 0.000000 meters along route # Maximum depth: 2040.241911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.241911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108189; longitude = -173.766045; captureRadius = 10; duration = 208; initialDepth = 1921.527095; finalDepth = 1965.241911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1965.241911 # Seafloor depth:-2040.241911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 104.301444 meters # Minimum depth: 1996.527095 meters looking forward 0.000000 meters along route # Maximum depth: 1996.527095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.527095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107570; longitude = -173.765301; captureRadius = 10; duration = 208; initialDepth = 1883.781769; finalDepth = 1921.527095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1921.527095 # Seafloor depth:-1996.527095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 104.301444 meters # Minimum depth: 1958.781769 meters looking forward 0.000000 meters along route # Maximum depth: 1958.781769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.781769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106978; longitude = -173.764588; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1866.025623; finalDepth = 1883.781769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1883.781769 # Seafloor depth:-1958.781769 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1941.025623 meters looking forward 0.000000 meters along route # Maximum depth: 1941.025623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.025623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106406; longitude = -173.763987; captureRadius = 10; duration = 208; initialDepth = 1844.151956; finalDepth = 1866.025623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1866.025623 # Seafloor depth:-1941.025623 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1919.151956 meters looking forward 0.000000 meters along route # Maximum depth: 1919.151956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.151956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105773; longitude = -173.763322; captureRadius = 10; duration = 208; initialDepth = 1824.480218; finalDepth = 1844.151956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1844.151956 # Seafloor depth:-1919.151956 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1899.480218 meters looking forward 0.000000 meters along route # Maximum depth: 1899.480218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.480218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105140; longitude = -173.762657; captureRadius = 10; duration = 208; initialDepth = 1793.604481; finalDepth = 1824.480218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1824.480218 # Seafloor depth:-1899.480218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1868.604481 meters looking forward 0.000000 meters along route # Maximum depth: 1868.604481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.604481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.761993; captureRadius = 10; duration = 208; initialDepth = 1752.082482; finalDepth = 1793.604481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1793.604481 # Seafloor depth:-1868.604481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1827.082482 meters looking forward 0.000000 meters along route # Maximum depth: 1827.082482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.082482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103875; longitude = -173.761328; captureRadius = 10; duration = 208; initialDepth = 1693.685264; finalDepth = 1752.082482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1752.082482 # Seafloor depth:-1827.082482 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 104.301444 meters # Minimum depth: 1768.685264 meters looking forward 0.000000 meters along route # Maximum depth: 1768.685264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.685264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103229; longitude = -173.760649; captureRadius = 10; duration = 208; initialDepth = 1652.404938; finalDepth = 1693.685264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1693.685264 # Seafloor depth:-1768.685264 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 104.301444 meters # Minimum depth: 1727.404938 meters looking forward 0.000000 meters along route # Maximum depth: 1727.404938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.404938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102579; longitude = -173.759967; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1603.558920; finalDepth = 1652.404938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1652.404938 # Seafloor depth:-1727.404938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 104.301444 meters # Minimum depth: 1678.558920 meters looking forward 0.000000 meters along route # Maximum depth: 1678.558920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.558920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101886; longitude = -173.758953; captureRadius = 10; duration = 208; initialDepth = 1592.373640; finalDepth = 1603.558920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1603.55892 # Seafloor depth:-1678.558920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 104.301444 meters # Minimum depth: 1667.373640 meters looking forward 0.000000 meters along route # Maximum depth: 1667.373640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.373640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101328; longitude = -173.758138; captureRadius = 10; duration = 208; initialDepth = 1564.621062; finalDepth = 1592.373640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1592.37364 # Seafloor depth:-1667.373640 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 104.301444 meters # Minimum depth: 1639.621062 meters looking forward 0.000000 meters along route # Maximum depth: 1639.621062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.621062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100801; longitude = -173.757367; captureRadius = 10; duration = 208; initialDepth = 1529.359334; finalDepth = 1564.621062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1564.621062 # Seafloor depth:-1639.621062 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 104.301444 meters # Minimum depth: 1604.359334 meters looking forward 0.000000 meters along route # Maximum depth: 1604.359334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.359334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100246; longitude = -173.756556; captureRadius = 10; duration = 208; initialDepth = 1475.336195; finalDepth = 1529.359334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1529.359334 # Seafloor depth:-1604.359334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 104.301444 meters # Minimum depth: 1550.336195 meters looking forward 0.000000 meters along route # Maximum depth: 1550.336195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.336195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099674; longitude = -173.755719; captureRadius = 10; duration = 208; initialDepth = 1442.961853; finalDepth = 1475.336195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1475.336195 # Seafloor depth:-1550.336195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 104.301444 meters # Minimum depth: 1517.961853 meters looking forward 0.000000 meters along route # Maximum depth: 1517.961853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.961853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099144; longitude = -173.754944; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1402.992958; finalDepth = 1442.961853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1442.961853 # Seafloor depth:-1517.961853 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 104.301444 meters # Minimum depth: 1477.992958 meters looking forward 0.000000 meters along route # Maximum depth: 1477.992958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.992958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098270; longitude = -173.753717; captureRadius = 10; duration = 208; initialDepth = 1360.100688; finalDepth = 1402.992958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1402.992958 # Seafloor depth:-1477.992958 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 104.301444 meters # Minimum depth: 1435.100688 meters looking forward 0.000000 meters along route # Maximum depth: 1435.100688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.100688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097707; longitude = -173.752928; captureRadius = 10; duration = 208; initialDepth = 1293.704163; finalDepth = 1360.100688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1360.100688 # Seafloor depth:-1435.100688 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 104.301444 meters # Minimum depth: 1368.704163 meters looking forward 0.000000 meters along route # Maximum depth: 1368.704163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.704163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097155; longitude = -173.752153; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1267.768678; finalDepth = 1293.704163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1293.704163 # Seafloor depth:-1368.704163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 104.301444 meters # Minimum depth: 1342.768678 meters looking forward 0.000000 meters along route # Maximum depth: 1342.768678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1267.768678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096483; longitude = -173.751254; captureRadius = 10; duration = 208; initialDepth = 1202.975984; finalDepth = 1267.768678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1267.768678 # Seafloor depth:-1342.768678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 104.301444 meters # Minimum depth: 1277.975984 meters looking forward 0.000000 meters along route # Maximum depth: 1277.975984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.975984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095919; longitude = -173.750500; captureRadius = 10; duration = 208; initialDepth = 1168.303223; finalDepth = 1202.975984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1202.975984 # Seafloor depth:-1277.975984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 104.301444 meters # Minimum depth: 1243.303223 meters looking forward 0.000000 meters along route # Maximum depth: 1243.303223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.303223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095347; longitude = -173.749734; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1186.956706; finalDepth = 1168.303223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1168.303223 # Seafloor depth:-1243.303223 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 104.301444 meters # Minimum depth: 1261.956706 meters looking forward 0.000000 meters along route # Maximum depth: 1261.956706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.956706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095708; longitude = -173.748153; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1243.260652; finalDepth = 1186.956706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1186.956706 # Seafloor depth:-1261.956706 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 104.301444 meters # Minimum depth: 1318.260652 meters looking forward 0.000000 meters along route # Maximum depth: 1318.260652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1243.260652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096117; longitude = -173.746788; captureRadius = 10; duration = 208; initialDepth = 1296.653755; finalDepth = 1243.260652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1243.260652 # Seafloor depth:-1318.260652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 104.301444 meters # Minimum depth: 1371.653755 meters looking forward 0.000000 meters along route # Maximum depth: 1371.653755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.653755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096396; longitude = -173.745858; captureRadius = 10; duration = 208; initialDepth = 1357.116720; finalDepth = 1296.653755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1296.653755 # Seafloor depth:-1371.653755 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 104.301444 meters # Minimum depth: 1435.545527 meters looking forward 0.000000 meters along route # Maximum depth: 1435.545527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.116720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096674; longitude = -173.744928; captureRadius = 10; duration = 208; initialDepth = 1415.047526; finalDepth = 1357.116720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4288072981362 # Actual altitude: 78.4288072981362 # Commanded vehicle depth:1357.11671970186 # Seafloor depth:-1435.545527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 313.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.06; MB_Bottom_Detect_Filter_Max_Range = 313.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 104.301444 meters # Minimum depth: 1490.047526 meters looking forward 0.000000 meters along route # Maximum depth: 1490.047526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.047526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096944; longitude = -173.744028; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1485.008442; finalDepth = 1415.047526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4288072981362 # Actual altitude: 78.4288072981362 # Commanded vehicle depth:1415.047526 # Seafloor depth:-1490.047526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 313.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.06; MB_Bottom_Detect_Filter_Max_Range = 313.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 104.301444 meters # Minimum depth: 1560.008442 meters looking forward 0.000000 meters along route # Maximum depth: 1560.008442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.008442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096788; longitude = -173.742788; captureRadius = 10; duration = 208; initialDepth = 1531.243904; finalDepth = 1485.008442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1485.008442 # Seafloor depth:-1560.008442 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 104.301444 meters # Minimum depth: 1606.243904 meters looking forward 0.000000 meters along route # Maximum depth: 1606.243904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.243904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096670; longitude = -173.741858; captureRadius = 10; duration = 208; initialDepth = 1583.311664; finalDepth = 1531.243904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1531.243904 # Seafloor depth:-1606.243904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 104.301444 meters # Minimum depth: 1658.311664 meters looking forward 0.000000 meters along route # Maximum depth: 1658.311664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.311664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096553; longitude = -173.740927; captureRadius = 10; duration = 208; initialDepth = 1631.433086; finalDepth = 1583.311664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1583.311664 # Seafloor depth:-1658.311664 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 104.301444 meters # Minimum depth: 1706.433086 meters looking forward 0.000000 meters along route # Maximum depth: 1706.433086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.433086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096436; longitude = -173.739997; captureRadius = 10; duration = 208; initialDepth = 1689.640299; finalDepth = 1631.433086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1631.433086 # Seafloor depth:-1706.433086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 104.301444 meters # Minimum depth: 1764.640299 meters looking forward 0.000000 meters along route # Maximum depth: 1764.640299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.640299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096311; longitude = -173.739005; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1659.831849; finalDepth = 1689.640299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1689.640299 # Seafloor depth:-1764.640299 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 104.301444 meters # Minimum depth: 1734.831849 meters looking forward 0.000000 meters along route # Maximum depth: 1734.831849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.831849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095286; longitude = -173.739206; captureRadius = 10; duration = 208; initialDepth = 1647.222583; finalDepth = 1659.831849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1659.831849 # Seafloor depth:-1734.831849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 104.301444 meters # Minimum depth: 1722.222583 meters looking forward 0.000000 meters along route # Maximum depth: 1722.222583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.222583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094382; longitude = -173.739383; captureRadius = 10; duration = 208; initialDepth = 1615.715690; finalDepth = 1647.222583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1647.222583 # Seafloor depth:-1722.222583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 104.301444 meters # Minimum depth: 1690.715690 meters looking forward 0.000000 meters along route # Maximum depth: 1690.715690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.715690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093478; longitude = -173.739560; captureRadius = 10; duration = 208; initialDepth = 1560.197266; finalDepth = 1615.715690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1615.71569 # Seafloor depth:-1690.715690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 104.301444 meters # Minimum depth: 1635.197266 meters looking forward 0.000000 meters along route # Maximum depth: 1635.197266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.197266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092514; longitude = -173.739749; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1544.893311; finalDepth = 1560.197266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1560.197266 # Seafloor depth:-1635.197266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 104.301444 meters # Minimum depth: 1619.893311 meters looking forward 0.000000 meters along route # Maximum depth: 1619.893311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.893311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091399; longitude = -173.739749; captureRadius = 10; duration = 208; initialDepth = 1499.152995; finalDepth = 1544.893311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1544.893311 # Seafloor depth:-1619.893311 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 104.301444 meters # Minimum depth: 1574.152995 meters looking forward 0.000000 meters along route # Maximum depth: 1574.152995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.152995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090495; longitude = -173.739749; captureRadius = 10; duration = 208; initialDepth = 1472.197469; finalDepth = 1499.152995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1499.152995 # Seafloor depth:-1574.152995 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 104.301444 meters # Minimum depth: 1547.197469 meters looking forward 0.000000 meters along route # Maximum depth: 1547.197469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.197469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089591; longitude = -173.739749; captureRadius = 10; duration = 208; initialDepth = 1461.981445; finalDepth = 1472.197469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1472.197469 # Seafloor depth:-1547.197469 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 104.301444 meters # Minimum depth: 1536.981445 meters looking forward 0.000000 meters along route # Maximum depth: 1536.981445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.981445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088627; longitude = -173.739749; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1518.924253; finalDepth = 1461.981445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1461.981445 # Seafloor depth:-1536.981445 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1593.924253 meters looking forward 0.000000 meters along route # Maximum depth: 1593.924253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.924253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087413; longitude = -173.740648; captureRadius = 10; duration = 208; initialDepth = 1578.100582; finalDepth = 1518.924253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1518.924253 # Seafloor depth:-1593.924253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1653.100582 meters looking forward 0.000000 meters along route # Maximum depth: 1653.100582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.100582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086660; longitude = -173.741206; captureRadius = 10; duration = 208; initialDepth = 1630.676156; finalDepth = 1578.100582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1578.100582 # Seafloor depth:-1653.100582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1705.676156 meters looking forward 0.000000 meters along route # Maximum depth: 1705.676156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.676156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085907; longitude = -173.741765; captureRadius = 10; duration = 208; initialDepth = 1690.006186; finalDepth = 1630.676156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1630.676156 # Seafloor depth:-1705.676156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1765.669507 meters looking forward 0.000000 meters along route # Maximum depth: 1765.669507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.006186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085154; longitude = -173.742323; captureRadius = 10; duration = 208; initialDepth = 1749.336311; finalDepth = 1690.006186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6633212853483 # Actual altitude: 75.6633212853483 # Commanded vehicle depth:1690.00618571465 # Seafloor depth:-1765.669507 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.40; MB_Bottom_Detect_Filter_Max_Range = 302.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1826.813306 meters looking forward 0.000000 meters along route # Maximum depth: 1826.813306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.336311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084401; longitude = -173.742881; captureRadius = 10; duration = 208; initialDepth = 1800.423993; finalDepth = 1749.336311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4769953079096 # Actual altitude: 77.4769953079096 # Commanded vehicle depth:1749.33631069209 # Seafloor depth:-1826.813306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.49; MB_Bottom_Detect_Filter_Max_Range = 309.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1875.423993 meters looking forward 0.000000 meters along route # Maximum depth: 1875.423993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.423993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083625; longitude = -173.743456; captureRadius = 10; duration = 208; initialDepth = 1841.832376; finalDepth = 1800.423993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4769953079096 # Actual altitude: 77.4769953079096 # Commanded vehicle depth:1800.423993 # Seafloor depth:-1875.423993 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.49; MB_Bottom_Detect_Filter_Max_Range = 309.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.301444 meters # Minimum depth: 1916.832376 meters looking forward 0.000000 meters along route # Maximum depth: 1916.832376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.832376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082811; longitude = -173.744059; captureRadius = 10; duration = 208; initialDepth = 1881.527018; finalDepth = 1841.832376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1841.832376 # Seafloor depth:-1916.832376 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 104.301444 meters # Minimum depth: 1956.527018 meters looking forward 0.000000 meters along route # Maximum depth: 1956.527018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.527018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082058; longitude = -173.744617; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1911.913845; finalDepth = 1881.527018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1881.527018 # Seafloor depth:-1956.527018 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 104.301444 meters # Minimum depth: 1986.913845 meters looking forward 0.000000 meters along route # Maximum depth: 1986.913845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.913845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081656; longitude = -173.743997; captureRadius = 10; duration = 208; initialDepth = 1945.925293; finalDepth = 1911.913845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1911.913845 # Seafloor depth:-1986.913845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 104.301444 meters # Minimum depth: 2020.925293 meters looking forward 0.000000 meters along route # Maximum depth: 2020.925293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.925293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081154; longitude = -173.743222; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1872.209705; finalDepth = 1945.925293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1945.925293 # Seafloor depth:-2020.925293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1947.209705 meters looking forward 0.000000 meters along route # Maximum depth: 1947.209705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.209705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082359; longitude = -173.742319; captureRadius = 10; duration = 208; initialDepth = 1799.423829; finalDepth = 1872.209705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1872.209705 # Seafloor depth:-1947.209705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1874.423829 meters looking forward 0.000000 meters along route # Maximum depth: 1874.423829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.423829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083100; longitude = -173.741765; captureRadius = 10; duration = 208; initialDepth = 1754.177042; finalDepth = 1799.423829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1799.423829 # Seafloor depth:-1874.423829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1829.177042 meters looking forward 0.000000 meters along route # Maximum depth: 1829.177042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.177042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083845; longitude = -173.741206; captureRadius = 10; duration = 208; initialDepth = 1722.197650; finalDepth = 1754.177042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1754.177042 # Seafloor depth:-1829.177042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1797.197650 meters looking forward 0.000000 meters along route # Maximum depth: 1797.197650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.197650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084590; longitude = -173.740648; captureRadius = 10; duration = 208; initialDepth = 1669.294021; finalDepth = 1722.197650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1722.19765 # Seafloor depth:-1797.197650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1744.294021 meters looking forward 0.000000 meters along route # Maximum depth: 1744.294021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.294021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085342; longitude = -173.740085; captureRadius = 10; duration = 208; initialDepth = 1623.232701; finalDepth = 1669.294021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1669.294021 # Seafloor depth:-1744.294021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 104.301444 meters # Minimum depth: 1698.232701 meters looking forward 0.000000 meters along route # Maximum depth: 1698.232701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.232701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086156; longitude = -173.739476; captureRadius = 10; duration = 208; initialDepth = 1570.392578; finalDepth = 1623.232701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1623.232701 # Seafloor depth:-1698.232701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 104.301444 meters # Minimum depth: 1645.392578 meters looking forward 0.000000 meters along route # Maximum depth: 1645.392578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.392578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086909; longitude = -173.738912; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1514.963216; finalDepth = 1570.392578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1570.392578 # Seafloor depth:-1645.392578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 104.301444 meters # Minimum depth: 1589.963216 meters looking forward 0.000000 meters along route # Maximum depth: 1589.963216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.963216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087452; longitude = -173.737981; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1578.709635; finalDepth = 1514.963216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1514.963216 # Seafloor depth:-1589.963216 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 104.301444 meters # Minimum depth: 1653.709635 meters looking forward 0.000000 meters along route # Maximum depth: 1653.709635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.709635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088446; longitude = -173.737702; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1649.595343; finalDepth = 1578.709635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1578.709635 # Seafloor depth:-1653.709635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1725.372599 meters looking forward 0.000000 meters along route # Maximum depth: 1725.372599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.595343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089335; longitude = -173.737020; captureRadius = 10; duration = 208; initialDepth = 1695.962872; finalDepth = 1649.595343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7772561841682 # Actual altitude: 75.7772561841682 # Commanded vehicle depth:1649.59534281583 # Seafloor depth:-1725.372599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.47; MB_Bottom_Detect_Filter_Max_Range = 303.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1770.962872 meters looking forward 0.000000 meters along route # Maximum depth: 1770.962872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.962872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090062; longitude = -173.736462; captureRadius = 10; duration = 208; initialDepth = 1744.516465; finalDepth = 1695.962872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7772561841682 # Actual altitude: 75.7772561841682 # Commanded vehicle depth:1695.962872 # Seafloor depth:-1770.962872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.47; MB_Bottom_Detect_Filter_Max_Range = 303.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1819.516465 meters looking forward 0.000000 meters along route # Maximum depth: 1819.516465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.516465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090790; longitude = -173.735904; captureRadius = 10; duration = 208; initialDepth = 1791.533580; finalDepth = 1744.516465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1744.516465 # Seafloor depth:-1819.516465 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1866.533580 meters looking forward 0.000000 meters along route # Maximum depth: 1866.533580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.533580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091517; longitude = -173.735346; captureRadius = 10; duration = 208; initialDepth = 1838.712584; finalDepth = 1791.533580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1791.53358 # Seafloor depth:-1866.533580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1913.712584 meters looking forward 0.000000 meters along route # Maximum depth: 1913.712584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.712584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092244; longitude = -173.734787; captureRadius = 10; duration = 208; initialDepth = 1892.367368; finalDepth = 1838.712584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1838.712584 # Seafloor depth:-1913.712584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 104.301444 meters # Minimum depth: 1967.367368 meters looking forward 0.000000 meters along route # Maximum depth: 1967.367368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.367368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093026; longitude = -173.734187; captureRadius = 10; duration = 208; initialDepth = 1950.976888; finalDepth = 1892.367368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1892.367368 # Seafloor depth:-1967.367368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 104.301444 meters # Minimum depth: 2025.976888 meters looking forward 0.000000 meters along route # Maximum depth: 2025.976888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1950.976888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093780; longitude = -173.733609; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1965.298706; finalDepth = 1950.976888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1950.976888 # Seafloor depth:-2025.976888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 104.301444 meters # Minimum depth: 2040.298706 meters looking forward 0.000000 meters along route # Maximum depth: 2040.298706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.298706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093298; longitude = -173.732985; captureRadius = 10; duration = 208; initialDepth = 1977.895833; finalDepth = 1965.298706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1965.298706 # Seafloor depth:-2040.298706 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 104.301444 meters # Minimum depth: 2052.895833 meters looking forward 0.000000 meters along route # Maximum depth: 2052.895833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.895833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092725; longitude = -173.732245; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1921.056540; finalDepth = 1977.895833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1977.895833 # Seafloor depth:-2052.895833 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1996.056540 meters looking forward 0.000000 meters along route # Maximum depth: 1996.056540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.056540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091828; longitude = -173.732927; captureRadius = 10; duration = 208; initialDepth = 1875.307179; finalDepth = 1921.056540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1921.05654 # Seafloor depth:-1996.056540 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1950.307179 meters looking forward 0.000000 meters along route # Maximum depth: 1950.307179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.307179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091093; longitude = -173.733485; captureRadius = 10; duration = 208; initialDepth = 1829.669468; finalDepth = 1875.307179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1875.307179 # Seafloor depth:-1950.307179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1904.669468 meters looking forward 0.000000 meters along route # Maximum depth: 1904.669468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.669468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090359; longitude = -173.734043; captureRadius = 10; duration = 208; initialDepth = 1783.360154; finalDepth = 1829.669468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1829.669468 # Seafloor depth:-1904.669468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1858.360154 meters looking forward 0.000000 meters along route # Maximum depth: 1858.360154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.360154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089625; longitude = -173.734601; captureRadius = 10; duration = 208; initialDepth = 1720.246053; finalDepth = 1783.360154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1783.360154 # Seafloor depth:-1858.360154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1795.246053 meters looking forward 0.000000 meters along route # Maximum depth: 1795.246053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.246053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088891; longitude = -173.735160; captureRadius = 10; duration = 208; initialDepth = 1655.925590; finalDepth = 1720.246053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1720.246053 # Seafloor depth:-1795.246053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1730.925590 meters looking forward 0.000000 meters along route # Maximum depth: 1730.925590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.925590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088156; longitude = -173.735718; captureRadius = 10; duration = 208; initialDepth = 1568.065591; finalDepth = 1655.925590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1655.92559 # Seafloor depth:-1730.925590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1643.065591 meters looking forward 0.000000 meters along route # Maximum depth: 1643.065591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.065591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087421; longitude = -173.736276; captureRadius = 10; duration = 208; initialDepth = 1558.793132; finalDepth = 1568.065591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1568.065591 # Seafloor depth:-1643.065591 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1633.793132 meters looking forward 0.000000 meters along route # Maximum depth: 1633.793132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.793132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086688; longitude = -173.736834; captureRadius = 10; duration = 208; initialDepth = 1602.877708; finalDepth = 1558.793132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1558.793132 # Seafloor depth:-1633.793132 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1677.877708 meters looking forward 0.000000 meters along route # Maximum depth: 1677.877708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.877708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085953; longitude = -173.737392; captureRadius = 10; duration = 208; initialDepth = 1647.978483; finalDepth = 1602.877708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1602.877708 # Seafloor depth:-1677.877708 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1722.978483 meters looking forward 0.000000 meters along route # Maximum depth: 1722.978483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.978483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085219; longitude = -173.737950; captureRadius = 10; duration = 208; initialDepth = 1706.332396; finalDepth = 1647.978483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1647.978483 # Seafloor depth:-1722.978483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1790.698711 meters looking forward 0.000000 meters along route # Maximum depth: 1790.698711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.332396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084485; longitude = -173.738509; captureRadius = 10; duration = 208; initialDepth = 1764.686403; finalDepth = 1706.332396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3663151277335 # Actual altitude: 84.3663151277335 # Commanded vehicle depth:1706.33239587227 # Seafloor depth:-1790.698711 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 337.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.62; MB_Bottom_Detect_Filter_Max_Range = 337.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1849.275027 meters looking forward 0.000000 meters along route # Maximum depth: 1849.275027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.686403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083751; longitude = -173.739067; captureRadius = 10; duration = 208; initialDepth = 1823.040504; finalDepth = 1764.686403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5886241473727 # Actual altitude: 84.5886241473727 # Commanded vehicle depth:1764.68640285263 # Seafloor depth:-1849.275027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.75; MB_Bottom_Detect_Filter_Max_Range = 338.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1901.924942 meters looking forward 0.000000 meters along route # Maximum depth: 1901.924942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.040504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083016; longitude = -173.739625; captureRadius = 10; duration = 208; initialDepth = 1873.040082; finalDepth = 1823.040504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5886241473727 # Actual altitude: 84.5886241473727 # Commanded vehicle depth:1823.04050394108 # Seafloor depth:-1901.924942 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.75; MB_Bottom_Detect_Filter_Max_Range = 338.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1948.040082 meters looking forward 0.000000 meters along route # Maximum depth: 1948.040082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.040082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082282; longitude = -173.740183; captureRadius = 10; duration = 208; initialDepth = 1916.079880; finalDepth = 1873.040082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8844380589178 # Actual altitude: 78.8844380589178 # Commanded vehicle depth:1873.040082 # Seafloor depth:-1948.040082 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 315.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.33; MB_Bottom_Detect_Filter_Max_Range = 315.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 1991.079880 meters looking forward 0.000000 meters along route # Maximum depth: 1991.079880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.079880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081545; longitude = -173.740743; captureRadius = 10; duration = 208; initialDepth = 1966.345744; finalDepth = 1916.079880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1916.07988 # Seafloor depth:-1991.079880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 104.301444 meters # Minimum depth: 2041.345744 meters looking forward 0.000000 meters along route # Maximum depth: 2041.345744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1966.345744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080814; longitude = -173.741299; captureRadius = 10; duration = 208; initialDepth = 2025.995117; finalDepth = 1966.345744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1966.345744 # Seafloor depth:-2041.345744 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 104.301444 meters # Minimum depth: 2100.995117 meters looking forward 0.000000 meters along route # Maximum depth: 2100.995117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.995117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080039; longitude = -173.741889; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2067.552734; finalDepth = 2025.995117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2025.995117 # Seafloor depth:-2100.995117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 104.301444 meters # Minimum depth: 2142.552734 meters looking forward 0.000000 meters along route # Maximum depth: 2142.552734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.552734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079225; longitude = -173.740586; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2018.468192; finalDepth = 2067.552734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2067.552734 # Seafloor depth:-2142.552734 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 2093.468192 meters looking forward 0.000000 meters along route # Maximum depth: 2093.468192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.468192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080008; longitude = -173.739959; captureRadius = 10; duration = 208; initialDepth = 1967.861138; finalDepth = 2018.468192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2018.468192 # Seafloor depth:-2093.468192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 2042.861138 meters looking forward 0.000000 meters along route # Maximum depth: 2042.861138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.861138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080732; longitude = -173.739380; captureRadius = 10; duration = 208; initialDepth = 1919.335750; finalDepth = 1967.861138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1967.861138 # Seafloor depth:-2042.861138 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1994.335750 meters looking forward 0.000000 meters along route # Maximum depth: 1994.335750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.335750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081455; longitude = -173.738801; captureRadius = 10; duration = 208; initialDepth = 1858.965779; finalDepth = 1919.335750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1919.33575 # Seafloor depth:-1994.335750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1933.965779 meters looking forward 0.000000 meters along route # Maximum depth: 1933.965779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.965779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082178; longitude = -173.738223; captureRadius = 10; duration = 208; initialDepth = 1814.708532; finalDepth = 1858.965779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1858.965779 # Seafloor depth:-1933.965779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1889.708532 meters looking forward 0.000000 meters along route # Maximum depth: 1889.708532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.708532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082901; longitude = -173.737644; captureRadius = 10; duration = 208; initialDepth = 1771.010483; finalDepth = 1814.708532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1814.708532 # Seafloor depth:-1889.708532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1846.010483 meters looking forward 0.000000 meters along route # Maximum depth: 1846.010483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.010483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083625; longitude = -173.737065; captureRadius = 10; duration = 208; initialDepth = 1704.330238; finalDepth = 1771.010483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1771.010483 # Seafloor depth:-1846.010483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1779.330238 meters looking forward 0.000000 meters along route # Maximum depth: 1779.330238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.330238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084348; longitude = -173.736486; captureRadius = 10; duration = 208; initialDepth = 1636.417970; finalDepth = 1704.330238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1704.330238 # Seafloor depth:-1779.330238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1711.417970 meters looking forward 0.000000 meters along route # Maximum depth: 1711.417970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.417970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085075; longitude = -173.735904; captureRadius = 10; duration = 208; initialDepth = 1576.161652; finalDepth = 1636.417970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1636.41797 # Seafloor depth:-1711.417970 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.301444 meters # Minimum depth: 1651.161652 meters looking forward 0.000000 meters along route # Maximum depth: 1651.161652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.161652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085794; longitude = -173.735328; captureRadius = 10; duration = 208; initialDepth = 1589.921539; finalDepth = 1576.161652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1576.161652 # Seafloor depth:-1651.161652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 104.301444 meters # Minimum depth: 1664.921539 meters looking forward 0.000000 meters along route # Maximum depth: 1664.921539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.921539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086548; longitude = -173.734725; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1596.937251; finalDepth = 1589.921539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1589.921539 # Seafloor depth:-1664.921539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 104.301444 meters # Minimum depth: 1671.937251 meters looking forward 0.000000 meters along route # Maximum depth: 1671.937251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.937251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086130; longitude = -173.733950; captureRadius = 10; duration = 208; initialDepth = 1638.122833; finalDepth = 1596.937251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1596.937251 # Seafloor depth:-1671.937251 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 104.301444 meters # Minimum depth: 1713.122833 meters looking forward 0.000000 meters along route # Maximum depth: 1713.122833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.122833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085644; longitude = -173.733051; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1666.271578; finalDepth = 1638.122833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1638.122833 # Seafloor depth:-1713.122833 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 104.301444 meters # Minimum depth: 1741.271578 meters looking forward 0.000000 meters along route # Maximum depth: 1741.271578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.271578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085295; longitude = -173.732183; captureRadius = 10; duration = 208; initialDepth = 1696.564648; finalDepth = 1666.271578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1666.271578 # Seafloor depth:-1741.271578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 104.301444 meters # Minimum depth: 1771.564648 meters looking forward 0.000000 meters along route # Maximum depth: 1771.564648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.564648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084921; longitude = -173.731252; captureRadius = 10; duration = 208; initialDepth = 1720.635834; finalDepth = 1696.564648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1696.564648 # Seafloor depth:-1771.564648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 104.301444 meters # Minimum depth: 1795.635834 meters looking forward 0.000000 meters along route # Maximum depth: 1795.635834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.635834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084559; longitude = -173.730353; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1731.024302; finalDepth = 1720.635834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1720.635834 # Seafloor depth:-1795.635834 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 104.301444 meters # Minimum depth: 1806.024302 meters looking forward 0.000000 meters along route # Maximum depth: 1806.024302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.024302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084290; longitude = -173.729299; captureRadius = 10; duration = 208; initialDepth = 1749.440105; finalDepth = 1731.024302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1731.024302 # Seafloor depth:-1806.024302 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 104.301444 meters # Minimum depth: 1824.440105 meters looking forward 0.000000 meters along route # Maximum depth: 1824.440105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.440105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084054; longitude = -173.728368; captureRadius = 10; duration = 208; initialDepth = 1779.386430; finalDepth = 1749.440105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1749.440105 # Seafloor depth:-1824.440105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 104.301444 meters # Minimum depth: 1854.386430 meters looking forward 0.000000 meters along route # Maximum depth: 1854.386430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.386430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083805; longitude = -173.727394; captureRadius = 10; duration = 208; initialDepth = 1812.800415; finalDepth = 1779.386430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1779.38643 # Seafloor depth:-1854.386430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 104.301444 meters # Minimum depth: 1887.800415 meters looking forward 0.000000 meters along route # Maximum depth: 1887.800415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.800415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083564; longitude = -173.726446; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1845.235354; finalDepth = 1812.800415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1812.800415 # Seafloor depth:-1887.800415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 104.301444 meters # Minimum depth: 1920.235354 meters looking forward 0.000000 meters along route # Maximum depth: 1920.235354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.235354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083014; longitude = -173.724926; captureRadius = 10; duration = 208; initialDepth = 1869.066701; finalDepth = 1845.235354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1845.235354 # Seafloor depth:-1920.235354 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 104.301444 meters # Minimum depth: 1944.066701 meters looking forward 0.000000 meters along route # Maximum depth: 1944.066701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.066701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082677; longitude = -173.723996; captureRadius = 10; duration = 208; initialDepth = 1865.510091; finalDepth = 1869.066701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1869.066701 # Seafloor depth:-1944.066701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 104.301444 meters # Minimum depth: 1940.510091 meters looking forward 0.000000 meters along route # Maximum depth: 1940.510091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.510091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082329; longitude = -173.723035; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1876.694699; finalDepth = 1865.510091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1865.510091 # Seafloor depth:-1940.510091 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 104.301444 meters # Minimum depth: 1951.694699 meters looking forward 0.000000 meters along route # Maximum depth: 1951.694699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.694699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082274; longitude = -173.722322; captureRadius = 10; duration = 208; initialDepth = 1934.655596; finalDepth = 1876.694699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1876.694699 # Seafloor depth:-1951.694699 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 104.301444 meters # Minimum depth: 2022.460690 meters looking forward 0.000000 meters along route # Maximum depth: 2022.460690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.655596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082203; longitude = -173.721391; captureRadius = 10; duration = 208; initialDepth = 1991.283764; finalDepth = 1934.655596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8050937269152 # Actual altitude: 87.8050937269152 # Commanded vehicle depth:1934.65559627308 # Seafloor depth:-2022.460690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 104.301444 meters # Minimum depth: 2066.283764 meters looking forward 0.000000 meters along route # Maximum depth: 2066.283764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.283764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082132; longitude = -173.720461; captureRadius = 10; duration = 208; initialDepth = 2006.794434; finalDepth = 1991.283764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8050937269152 # Actual altitude: 87.8050937269152 # Commanded vehicle depth:1991.283764 # Seafloor depth:-2066.283764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 104.301444 meters # Minimum depth: 2081.794434 meters looking forward 0.000000 meters along route # Maximum depth: 2081.794434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.794434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082058; longitude = -173.719500; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2026.556222; finalDepth = 2006.794434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2006.794434 # Seafloor depth:-2081.794434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 104.301444 meters # Minimum depth: 2101.556222 meters looking forward 0.000000 meters along route # Maximum depth: 2101.556222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.556222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081744; longitude = -173.718414; captureRadius = 10; duration = 208; initialDepth = 2045.925705; finalDepth = 2026.556222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2026.556222 # Seafloor depth:-2101.556222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 104.301444 meters # Minimum depth: 2120.925705 meters looking forward 0.000000 meters along route # Maximum depth: 2120.925705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.925705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081474; longitude = -173.717484; captureRadius = 10; duration = 208; initialDepth = 2055.971680; finalDepth = 2045.925705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2045.925705 # Seafloor depth:-2120.925705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 104.301444 meters # Minimum depth: 2130.971680 meters looking forward 0.000000 meters along route # Maximum depth: 2130.971680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.971680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081214; longitude = -173.716585; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2036.528080; finalDepth = 2055.971680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2055.97168 # Seafloor depth:-2130.971680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 104.301444 meters # Minimum depth: 2111.528080 meters looking forward 0.000000 meters along route # Maximum depth: 2111.528080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.528080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081165; longitude = -173.715437; captureRadius = 10; duration = 208; initialDepth = 2098.219980; finalDepth = 2036.528080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2036.52808 # Seafloor depth:-2111.528080 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 104.301444 meters # Minimum depth: 2185.828125 meters looking forward 0.000000 meters along route # Maximum depth: 2185.828125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.219980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081123; longitude = -173.714445; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2146.696185; finalDepth = 2098.219980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.6081446648459 # Actual altitude: 87.6081446648459 # Commanded vehicle depth:2098.21998033515 # Seafloor depth:-2185.828125 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.56; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 104.301444 meters # Minimum depth: 2222.851964 meters looking forward 0.000000 meters along route # Maximum depth: 2222.851964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.696185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081211; longitude = -173.713670; captureRadius = 10; duration = 208; initialDepth = 2174.682491; finalDepth = 2146.696185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.6081446648459 # Actual altitude: 87.6081446648459 # Commanded vehicle depth:2146.69618547949 # Seafloor depth:-2222.851964 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.56; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 104.301444 meters # Minimum depth: 2249.682491 meters looking forward 0.000000 meters along route # Maximum depth: 2249.682491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2174.682491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081316; longitude = -173.712740; captureRadius = 10; duration = 208; initialDepth = 2234.807588; finalDepth = 2174.682491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1557785205136 # Actual altitude: 76.1557785205136 # Commanded vehicle depth:2174.682491 # Seafloor depth:-2249.682491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 304.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.69; MB_Bottom_Detect_Filter_Max_Range = 304.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 104.301444 meters # Minimum depth: 2310.491882 meters looking forward 0.000000 meters along route # Maximum depth: 2310.491882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.807588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081425; longitude = -173.711778; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2306.773768; finalDepth = 2234.807588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6842939780995 # Actual altitude: 75.6842939780995 # Commanded vehicle depth:2234.8075880219 # Seafloor depth:-2310.491882 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.41; MB_Bottom_Detect_Filter_Max_Range = 302.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 104.301444 meters # Minimum depth: 2381.773768 meters looking forward 0.000000 meters along route # Maximum depth: 2381.773768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.773768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081444; longitude = -173.710414; captureRadius = 10; duration = 208; initialDepth = 2336.866498; finalDepth = 2306.773768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6842939780995 # Actual altitude: 75.6842939780995 # Commanded vehicle depth:2306.773768 # Seafloor depth:-2381.773768 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.41; MB_Bottom_Detect_Filter_Max_Range = 302.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 104.301444 meters # Minimum depth: 2411.866498 meters looking forward 0.000000 meters along route # Maximum depth: 2411.866498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.866498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081458; longitude = -173.709484; captureRadius = 10; duration = 208; initialDepth = 2366.266771; finalDepth = 2336.866498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2336.866498 # Seafloor depth:-2411.866498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 104.301444 meters # Minimum depth: 2441.266771 meters looking forward 0.000000 meters along route # Maximum depth: 2441.266771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2366.266771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081471; longitude = -173.708553; captureRadius = 10; duration = 208; initialDepth = 2427.901981; finalDepth = 2366.266771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2366.266771 # Seafloor depth:-2441.266771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 104.301444 meters # Minimum depth: 2515.351318 meters looking forward 0.000000 meters along route # Maximum depth: 2515.351318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2427.901981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081485; longitude = -173.707561; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2510.793047; finalDepth = 2427.901981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4493366866104 # Actual altitude: 87.4493366866104 # Commanded vehicle depth:2427.90198131339 # Seafloor depth:-2515.351318 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 349.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.47; MB_Bottom_Detect_Filter_Max_Range = 349.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 104.301444 meters # Minimum depth: 2585.793047 meters looking forward 0.000000 meters along route # Maximum depth: 2585.793047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2510.793047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081387; longitude = -173.705948; captureRadius = 10; duration = 208; initialDepth = 2515.336666; finalDepth = 2510.793047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4493366866104 # Actual altitude: 87.4493366866104 # Commanded vehicle depth:2510.793047 # Seafloor depth:-2585.793047 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 349.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.47; MB_Bottom_Detect_Filter_Max_Range = 349.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 104.301444 meters # Minimum depth: 2590.336666 meters looking forward 0.000000 meters along route # Maximum depth: 2590.336666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2515.336666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081331; longitude = -173.705018; captureRadius = 10; duration = 208; initialDepth = 2533.448305; finalDepth = 2515.336666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2515.336666 # Seafloor depth:-2590.336666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 104.301444 meters # Minimum depth: 2608.448305 meters looking forward 0.000000 meters along route # Maximum depth: 2608.448305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2533.448305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081274; longitude = -173.704086; captureRadius = 10; duration = 208; initialDepth = 2558.109985; finalDepth = 2533.448305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2533.448305 # Seafloor depth:-2608.448305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 104.301444 meters # Minimum depth: 2633.109985 meters looking forward 0.000000 meters along route # Maximum depth: 2633.109985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2558.109985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081214; longitude = -173.703096; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2592.759099; finalDepth = 2558.109985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2558.109985 # Seafloor depth:-2633.109985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 104.301444 meters # Minimum depth: 2667.759099 meters looking forward 0.000000 meters along route # Maximum depth: 2667.759099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2592.759099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080999; longitude = -173.702227; captureRadius = 10; duration = 208; initialDepth = 2602.873654; finalDepth = 2592.759099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2592.759099 # Seafloor depth:-2667.759099 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 104.301444 meters # Minimum depth: 2677.873654 meters looking forward 0.000000 meters along route # Maximum depth: 2677.873654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2602.873654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080768; longitude = -173.701297; captureRadius = 10; duration = 208; initialDepth = 2607.715549; finalDepth = 2602.873654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2602.873654 # Seafloor depth:-2677.873654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 104.301444 meters # Minimum depth: 2682.715549 meters looking forward 0.000000 meters along route # Maximum depth: 2682.715549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2607.715549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080538; longitude = -173.700367; captureRadius = 10; duration = 208; initialDepth = 2615.960470; finalDepth = 2607.715549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2607.715549 # Seafloor depth:-2682.715549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 104.301444 meters # Minimum depth: 2690.960470 meters looking forward 0.000000 meters along route # Maximum depth: 2690.960470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2615.960470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080307; longitude = -173.699436; captureRadius = 10; duration = 208; initialDepth = 2618.388062; finalDepth = 2615.960470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2615.96047 # Seafloor depth:-2690.960470 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 104.301444 meters # Minimum depth: 2693.388062 meters looking forward 0.000000 meters along route # Maximum depth: 2693.388062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2618.388062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080069; longitude = -173.698475; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2623.111816; finalDepth = 2618.388062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2618.388062 # Seafloor depth:-2693.388062 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 104.301444 meters # Minimum depth: 2698.111816 meters looking forward 0.000000 meters along route # Maximum depth: 2698.111816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2623.111816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078894; longitude = -173.698847; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2604.474509; finalDepth = 2623.111816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2623.111816 # Seafloor depth:-2698.111816 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 104.301444 meters # Minimum depth: 2679.474509 meters looking forward 0.000000 meters along route # Maximum depth: 2679.474509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2604.474509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079290; longitude = -173.700181; captureRadius = 10; duration = 208; initialDepth = 2597.300124; finalDepth = 2604.474509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2604.474509 # Seafloor depth:-2679.474509 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 104.301444 meters # Minimum depth: 2672.300124 meters looking forward 0.000000 meters along route # Maximum depth: 2672.300124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2597.300124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079567; longitude = -173.701111; captureRadius = 10; duration = 208; initialDepth = 2595.664557; finalDepth = 2597.300124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2597.300124 # Seafloor depth:-2672.300124 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 104.301444 meters # Minimum depth: 2670.664557 meters looking forward 0.000000 meters along route # Maximum depth: 2670.664557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2595.664557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079843; longitude = -173.702041; captureRadius = 10; duration = 208; initialDepth = 2540.415710; finalDepth = 2595.664557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2595.664557 # Seafloor depth:-2670.664557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 104.301444 meters # Minimum depth: 2615.415710 meters looking forward 0.000000 meters along route # Maximum depth: 2615.415710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2540.415710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080129; longitude = -173.703003; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2519.565943; finalDepth = 2540.415710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2540.41571 # Seafloor depth:-2615.415710 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 104.301444 meters # Minimum depth: 2594.565943 meters looking forward 0.000000 meters along route # Maximum depth: 2594.565943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2519.565943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080145; longitude = -173.703809; captureRadius = 10; duration = 208; initialDepth = 2501.797264; finalDepth = 2519.565943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2519.565943 # Seafloor depth:-2594.565943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 104.301444 meters # Minimum depth: 2576.797264 meters looking forward 0.000000 meters along route # Maximum depth: 2576.797264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2501.797264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080163; longitude = -173.704739; captureRadius = 10; duration = 208; initialDepth = 2487.049934; finalDepth = 2501.797264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2501.797264 # Seafloor depth:-2576.797264 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 104.301444 meters # Minimum depth: 2562.049934 meters looking forward 0.000000 meters along route # Maximum depth: 2562.049934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2487.049934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080182; longitude = -173.705669; captureRadius = 10; duration = 208; initialDepth = 2452.638420; finalDepth = 2487.049934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2487.049934 # Seafloor depth:-2562.049934 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 104.301444 meters # Minimum depth: 2527.638420 meters looking forward 0.000000 meters along route # Maximum depth: 2527.638420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2452.638420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080200; longitude = -173.706600; captureRadius = 10; duration = 208; initialDepth = 2414.969666; finalDepth = 2452.638420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2452.63842 # Seafloor depth:-2527.638420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 104.301444 meters # Minimum depth: 2489.969666 meters looking forward 0.000000 meters along route # Maximum depth: 2489.969666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2414.969666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080219; longitude = -173.707561; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2389.750091; finalDepth = 2414.969666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2414.969666 # Seafloor depth:-2489.969666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 104.301444 meters # Minimum depth: 2464.750091 meters looking forward 0.000000 meters along route # Maximum depth: 2464.750091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2389.750091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080166; longitude = -173.708739; captureRadius = 10; duration = 208; initialDepth = 2334.642729; finalDepth = 2389.750091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2389.750091 # Seafloor depth:-2464.750091 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 104.301444 meters # Minimum depth: 2409.642729 meters looking forward 0.000000 meters along route # Maximum depth: 2409.642729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.642729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080124; longitude = -173.709670; captureRadius = 10; duration = 208; initialDepth = 2298.081272; finalDepth = 2334.642729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2334.642729 # Seafloor depth:-2409.642729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 104.301444 meters # Minimum depth: 2373.081272 meters looking forward 0.000000 meters along route # Maximum depth: 2373.081272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2298.081272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080082; longitude = -173.710600; captureRadius = 10; duration = 208; initialDepth = 2249.170532; finalDepth = 2298.081272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2298.081272 # Seafloor depth:-2373.081272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 104.301444 meters # Minimum depth: 2324.170532 meters looking forward 0.000000 meters along route # Maximum depth: 2324.170532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2249.170532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080039; longitude = -173.711561; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2193.115591; finalDepth = 2249.170532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2249.170532 # Seafloor depth:-2324.170532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 104.301444 meters # Minimum depth: 2268.115591 meters looking forward 0.000000 meters along route # Maximum depth: 2268.115591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.115591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080027; longitude = -173.712274; captureRadius = 10; duration = 208; initialDepth = 2144.359531; finalDepth = 2193.115591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2193.115591 # Seafloor depth:-2268.115591 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 104.301444 meters # Minimum depth: 2219.359531 meters looking forward 0.000000 meters along route # Maximum depth: 2219.359531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.359531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080011; longitude = -173.713205; captureRadius = 10; duration = 208; initialDepth = 2137.654832; finalDepth = 2144.359531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2144.359531 # Seafloor depth:-2219.359531 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 104.301444 meters # Minimum depth: 2212.654832 meters looking forward 0.000000 meters along route # Maximum depth: 2212.654832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.654832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079995; longitude = -173.714135; captureRadius = 10; duration = 208; initialDepth = 2120.401204; finalDepth = 2137.654832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2137.654832 # Seafloor depth:-2212.654832 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 104.301444 meters # Minimum depth: 2195.401204 meters looking forward 0.000000 meters along route # Maximum depth: 2195.401204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.401204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079978; longitude = -173.715127; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2079.569227; finalDepth = 2120.401204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2120.401204 # Seafloor depth:-2195.401204 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 104.301444 meters # Minimum depth: 2154.569227 meters looking forward 0.000000 meters along route # Maximum depth: 2154.569227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.569227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080079; longitude = -173.716368; captureRadius = 10; duration = 208; initialDepth = 2064.748535; finalDepth = 2079.569227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2079.569227 # Seafloor depth:-2154.569227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 104.301444 meters # Minimum depth: 2139.748535 meters looking forward 0.000000 meters along route # Maximum depth: 2139.748535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.748535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080159; longitude = -173.717360; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2025.034325; finalDepth = 2064.748535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2064.748535 # Seafloor depth:-2139.748535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 104.301444 meters # Minimum depth: 2100.034325 meters looking forward 0.000000 meters along route # Maximum depth: 2100.034325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.034325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080573; longitude = -173.718786; captureRadius = 10; duration = 208; initialDepth = 1994.637512; finalDepth = 2025.034325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2025.034325 # Seafloor depth:-2100.034325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 104.301444 meters # Minimum depth: 2069.637512 meters looking forward 0.000000 meters along route # Maximum depth: 2069.637512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.637512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080852; longitude = -173.719748; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1981.968774; finalDepth = 1994.637512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1994.637512 # Seafloor depth:-2069.637512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 104.301444 meters # Minimum depth: 2056.968774 meters looking forward 0.000000 meters along route # Maximum depth: 2056.968774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.968774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080939; longitude = -173.720647; captureRadius = 10; duration = 208; initialDepth = 1944.431737; finalDepth = 1981.968774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1981.968774 # Seafloor depth:-2056.968774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 104.301444 meters # Minimum depth: 2019.431737 meters looking forward 0.000000 meters along route # Maximum depth: 2019.431737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1944.431737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081030; longitude = -173.721577; captureRadius = 10; duration = 208; initialDepth = 1906.742402; finalDepth = 1944.431737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1944.431737 # Seafloor depth:-2019.431737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 104.301444 meters # Minimum depth: 1981.742402 meters looking forward 0.000000 meters along route # Maximum depth: 1981.742402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.742402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081120; longitude = -173.722508; captureRadius = 10; duration = 208; initialDepth = 1902.502604; finalDepth = 1906.742402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1906.742402 # Seafloor depth:-1981.742402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 104.301444 meters # Minimum depth: 1977.502604 meters looking forward 0.000000 meters along route # Maximum depth: 1977.502604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.502604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081214; longitude = -173.723469; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1895.421422; finalDepth = 1902.502604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1902.502604 # Seafloor depth:-1977.502604 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 104.301444 meters # Minimum depth: 1970.421422 meters looking forward 0.000000 meters along route # Maximum depth: 1970.421422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.421422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081365; longitude = -173.724182; captureRadius = 10; duration = 208; initialDepth = 1860.698562; finalDepth = 1895.421422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1895.421422 # Seafloor depth:-1970.421422 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 104.301444 meters # Minimum depth: 1935.698562 meters looking forward 0.000000 meters along route # Maximum depth: 1935.698562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.698562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081561; longitude = -173.725112; captureRadius = 10; duration = 208; initialDepth = 1865.478282; finalDepth = 1860.698562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1860.698562 # Seafloor depth:-1935.698562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 104.301444 meters # Minimum depth: 1940.478282 meters looking forward 0.000000 meters along route # Maximum depth: 1940.478282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.478282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081757; longitude = -173.726043; captureRadius = 10; duration = 208; initialDepth = 1863.224426; finalDepth = 1865.478282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1865.478282 # Seafloor depth:-1940.478282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 104.301444 meters # Minimum depth: 1938.224426 meters looking forward 0.000000 meters along route # Maximum depth: 1938.224426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.224426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081967; longitude = -173.727035; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1823.377062; finalDepth = 1863.224426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1863.224426 # Seafloor depth:-1938.224426 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.301444 meters # Minimum depth: 1898.377062 meters looking forward 0.000000 meters along route # Maximum depth: 1898.377062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.377062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082337; longitude = -173.728461; captureRadius = 10; duration = 208; initialDepth = 1821.688942; finalDepth = 1823.377062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1823.377062 # Seafloor depth:-1898.377062 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.301444 meters # Minimum depth: 1896.688942 meters looking forward 0.000000 meters along route # Maximum depth: 1896.688942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.688942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082578; longitude = -173.729392; captureRadius = 10; duration = 208; initialDepth = 1814.150047; finalDepth = 1821.688942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1821.688942 # Seafloor depth:-1896.688942 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.301444 meters # Minimum depth: 1889.150047 meters looking forward 0.000000 meters along route # Maximum depth: 1889.150047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.150047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082819; longitude = -173.730322; captureRadius = 10; duration = 208; initialDepth = 1769.028961; finalDepth = 1814.150047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1814.150047 # Seafloor depth:-1889.150047 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 104.301444 meters # Minimum depth: 1844.028961 meters looking forward 0.000000 meters along route # Maximum depth: 1844.028961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.028961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083052; longitude = -173.731221; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1757.664068; finalDepth = 1769.028961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1769.028961 # Seafloor depth:-1844.028961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.301444 meters # Minimum depth: 1832.664068 meters looking forward 0.000000 meters along route # Maximum depth: 1832.664068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.664068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083486; longitude = -173.732090; captureRadius = 10; duration = 208; initialDepth = 1701.658181; finalDepth = 1757.664068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1757.664068 # Seafloor depth:-1832.664068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.301444 meters # Minimum depth: 1776.658181 meters looking forward 0.000000 meters along route # Maximum depth: 1776.658181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.658181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083903; longitude = -173.732927; captureRadius = 10; duration = 208; initialDepth = 1664.796936; finalDepth = 1701.658181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1701.658181 # Seafloor depth:-1776.658181 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 104.301444 meters # Minimum depth: 1739.796936 meters looking forward 0.000000 meters along route # Maximum depth: 1739.796936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.796936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084348; longitude = -173.733817; captureRadius = 10; duration = 208; initialDepth = 1653.104492; finalDepth = 1664.796936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1664.796936 # Seafloor depth:-1739.796936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 104.301444 meters # Minimum depth: 1728.104492 meters looking forward 0.000000 meters along route # Maximum depth: 1728.104492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.104492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084770; longitude = -173.734663; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1576.861654; finalDepth = 1653.104492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1653.104492 # Seafloor depth:-1728.104492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 104.301444 meters # Minimum depth: 1651.861654 meters looking forward 0.000000 meters along route # Maximum depth: 1651.861654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.861654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085945; longitude = -173.735315; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1559.746541; finalDepth = 1576.861654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1576.861654 # Seafloor depth:-1651.861654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.301444 meters # Minimum depth: 1634.746541 meters looking forward 0.000000 meters along route # Maximum depth: 1634.746541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.746541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086638; longitude = -173.736555; captureRadius = 10; duration = 208; initialDepth = 1531.083097; finalDepth = 1559.746541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1559.746541 # Seafloor depth:-1634.746541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.301444 meters # Minimum depth: 1606.083097 meters looking forward 0.000000 meters along route # Maximum depth: 1606.083097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.083097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087106; longitude = -173.737392; captureRadius = 10; duration = 208; initialDepth = 1517.654248; finalDepth = 1531.083097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1531.083097 # Seafloor depth:-1606.083097 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.301444 meters # Minimum depth: 1592.654248 meters looking forward 0.000000 meters along route # Maximum depth: 1592.654248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.654248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087574; longitude = -173.738229; captureRadius = 10; duration = 208; initialDepth = 1476.442220; finalDepth = 1517.654248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1517.654248 # Seafloor depth:-1592.654248 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 104.301444 meters # Minimum depth: 1551.442220 meters looking forward 0.000000 meters along route # Maximum depth: 1551.442220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.442220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088024; longitude = -173.739036; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1461.441028; finalDepth = 1476.442220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1476.44222 # Seafloor depth:-1551.442220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.301444 meters # Minimum depth: 1536.441028 meters looking forward 0.000000 meters along route # Maximum depth: 1536.441028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.441028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088438; longitude = -173.739718; captureRadius = 10; duration = 208; initialDepth = 1440.277435; finalDepth = 1461.441028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1461.441028 # Seafloor depth:-1536.441028 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 104.301444 meters # Minimum depth: 1515.277435 meters looking forward 0.000000 meters along route # Maximum depth: 1515.277435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.277435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088928; longitude = -173.740524; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1436.108415; finalDepth = 1440.277435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1440.277435 # Seafloor depth:-1515.277435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1511.108415 meters looking forward 0.000000 meters along route # Maximum depth: 1511.108415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.108415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088755; longitude = -173.741858; captureRadius = 10; duration = 208; initialDepth = 1465.838733; finalDepth = 1436.108415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1436.108415 # Seafloor depth:-1511.108415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1540.838733 meters looking forward 0.000000 meters along route # Maximum depth: 1540.838733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.838733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088634; longitude = -173.742788; captureRadius = 10; duration = 208; initialDepth = 1480.825347; finalDepth = 1465.838733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1465.838733 # Seafloor depth:-1540.838733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1555.825347 meters looking forward 0.000000 meters along route # Maximum depth: 1555.825347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.825347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088513; longitude = -173.743718; captureRadius = 10; duration = 208; initialDepth = 1475.735446; finalDepth = 1480.825347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1480.825347 # Seafloor depth:-1555.825347 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1550.735446 meters looking forward 0.000000 meters along route # Maximum depth: 1550.735446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.735446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088392; longitude = -173.744648; captureRadius = 10; duration = 208; initialDepth = 1505.607646; finalDepth = 1475.735446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1475.735446 # Seafloor depth:-1550.735446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1580.607646 meters looking forward 0.000000 meters along route # Maximum depth: 1580.607646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.607646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088271; longitude = -173.745579; captureRadius = 10; duration = 208; initialDepth = 1505.745810; finalDepth = 1505.607646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1505.607646 # Seafloor depth:-1580.607646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1580.745810 meters looking forward 0.000000 meters along route # Maximum depth: 1580.745810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.745810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088150; longitude = -173.746509; captureRadius = 10; duration = 208; initialDepth = 1509.418330; finalDepth = 1505.745810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1505.74581 # Seafloor depth:-1580.745810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 104.301444 meters # Minimum depth: 1584.418330 meters looking forward 0.000000 meters along route # Maximum depth: 1584.418330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.418330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088029; longitude = -173.747439; captureRadius = 10; duration = 208; initialDepth = 1516.876038; finalDepth = 1509.418330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1509.41833 # Seafloor depth:-1584.418330 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 104.301444 meters # Minimum depth: 1591.876038 meters looking forward 0.000000 meters along route # Maximum depth: 1591.876038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.876038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087904; longitude = -173.748401; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1449.412122; finalDepth = 1516.876038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1516.876038 # Seafloor depth:-1591.876038 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.301444 meters # Minimum depth: 1524.412122 meters looking forward 0.000000 meters along route # Maximum depth: 1524.412122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.412122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089049; longitude = -173.748556; captureRadius = 10; duration = 208; initialDepth = 1396.531779; finalDepth = 1449.412122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1449.412122 # Seafloor depth:-1524.412122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.301444 meters # Minimum depth: 1471.531779 meters looking forward 0.000000 meters along route # Maximum depth: 1471.531779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.531779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089953; longitude = -173.748678; captureRadius = 10; duration = 208; initialDepth = 1345.133681; finalDepth = 1396.531779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1396.531779 # Seafloor depth:-1471.531779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.301444 meters # Minimum depth: 1420.133681 meters looking forward 0.000000 meters along route # Maximum depth: 1420.133681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.133681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090857; longitude = -173.748801; captureRadius = 10; duration = 208; initialDepth = 1287.101510; finalDepth = 1345.133681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1345.133681 # Seafloor depth:-1420.133681 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.301444 meters # Minimum depth: 1362.101510 meters looking forward 0.000000 meters along route # Maximum depth: 1362.101510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1287.101510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091761; longitude = -173.748923; captureRadius = 10; duration = 208; initialDepth = 1241.706141; finalDepth = 1287.101510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1287.10151 # Seafloor depth:-1362.101510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.301444 meters # Minimum depth: 1316.706141 meters looking forward 0.000000 meters along route # Maximum depth: 1316.706141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.706141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092665; longitude = -173.749045; captureRadius = 10; duration = 208; initialDepth = 1188.292145; finalDepth = 1241.706141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1241.706141 # Seafloor depth:-1316.706141 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 104.301444 meters # Minimum depth: 1263.292145 meters looking forward 0.000000 meters along route # Maximum depth: 1263.292145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.292145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093629; longitude = -173.749176; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1252.305323; finalDepth = 1188.292145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1188.292145 # Seafloor depth:-1263.292145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1327.305323 meters looking forward 0.000000 meters along route # Maximum depth: 1327.305323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.305323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093694; longitude = -173.750416; captureRadius = 10; duration = 208; initialDepth = 1310.169665; finalDepth = 1252.305323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1252.305323 # Seafloor depth:-1327.305323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1388.599291 meters looking forward 0.000000 meters along route # Maximum depth: 1388.599291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.169665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093743; longitude = -173.751347; captureRadius = 10; duration = 208; initialDepth = 1368.034035; finalDepth = 1310.169665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4296262065936 # Actual altitude: 78.4296262065936 # Commanded vehicle depth:1310.16966479341 # Seafloor depth:-1388.599291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 313.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.06; MB_Bottom_Detect_Filter_Max_Range = 313.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1447.189342 meters looking forward 0.000000 meters along route # Maximum depth: 1447.189342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.034035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093792; longitude = -173.752277; captureRadius = 10; duration = 208; initialDepth = 1425.898435; finalDepth = 1368.034035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1553065456771 # Actual altitude: 79.1553065456771 # Commanded vehicle depth:1368.03403545432 # Seafloor depth:-1447.189342 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 316.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.49; MB_Bottom_Detect_Filter_Max_Range = 316.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1511.814288 meters looking forward 0.000000 meters along route # Maximum depth: 1511.814288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.898435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093841; longitude = -173.753207; captureRadius = 10; duration = 208; initialDepth = 1483.762864; finalDepth = 1425.898435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.9158530172467 # Actual altitude: 85.9158530172467 # Commanded vehicle depth:1425.89843498275 # Seafloor depth:-1511.814288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 343.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.55; MB_Bottom_Detect_Filter_Max_Range = 343.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1567.494824 meters looking forward 0.000000 meters along route # Maximum depth: 1567.494824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.762864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093890; longitude = -173.754137; captureRadius = 10; duration = 208; initialDepth = 1541.627322; finalDepth = 1483.762864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.9158530172467 # Actual altitude: 85.9158530172467 # Commanded vehicle depth:1483.76286395605 # Seafloor depth:-1567.494824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 343.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.55; MB_Bottom_Detect_Filter_Max_Range = 343.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.301444 meters # Minimum depth: 1621.040203 meters looking forward 0.000000 meters along route # Maximum depth: 1621.040203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.627322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093939; longitude = -173.755068; captureRadius = 10; duration = 208; initialDepth = 1602.928040; finalDepth = 1541.627322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7319600439514 # Actual altitude: 83.7319600439514 # Commanded vehicle depth:1541.6273223742 # Seafloor depth:-1621.040203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 334.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.24; MB_Bottom_Detect_Filter_Max_Range = 334.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 104.301444 meters # Minimum depth: 1677.928040 meters looking forward 0.000000 meters along route # Maximum depth: 1677.928040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.928040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093991; longitude = -173.756060; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1668.293034; finalDepth = 1602.928040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4128806257954 # Actual altitude: 79.4128806257954 # Commanded vehicle depth:1602.92804 # Seafloor depth:-1677.928040 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 317.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.65; MB_Bottom_Detect_Filter_Max_Range = 317.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 1743.293034 meters looking forward 0.000000 meters along route # Maximum depth: 1743.293034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.293034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094363; longitude = -173.757393; captureRadius = 10; duration = 208; initialDepth = 1726.626720; finalDepth = 1668.293034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1668.293034 # Seafloor depth:-1743.293034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 1801.626720 meters looking forward 0.000000 meters along route # Maximum depth: 1801.626720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.626720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094623; longitude = -173.758324; captureRadius = 10; duration = 208; initialDepth = 1778.894242; finalDepth = 1726.626720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1726.62672 # Seafloor depth:-1801.626720 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 1853.894242 meters looking forward 0.000000 meters along route # Maximum depth: 1853.894242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.894242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094882; longitude = -173.759254; captureRadius = 10; duration = 208; initialDepth = 1837.572724; finalDepth = 1778.894242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1778.894242 # Seafloor depth:-1853.894242 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 1912.572724 meters looking forward 0.000000 meters along route # Maximum depth: 1912.572724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.572724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095142; longitude = -173.760184; captureRadius = 10; duration = 208; initialDepth = 1885.812422; finalDepth = 1837.572724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1837.572724 # Seafloor depth:-1912.572724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 1960.812422 meters looking forward 0.000000 meters along route # Maximum depth: 1960.812422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.812422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095401; longitude = -173.761115; captureRadius = 10; duration = 208; initialDepth = 1943.255522; finalDepth = 1885.812422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1885.812422 # Seafloor depth:-1960.812422 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 2018.255522 meters looking forward 0.000000 meters along route # Maximum depth: 2018.255522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.255522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095661; longitude = -173.762045; captureRadius = 10; duration = 208; initialDepth = 1998.370494; finalDepth = 1943.255522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1943.255522 # Seafloor depth:-2018.255522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 2073.370494 meters looking forward 0.000000 meters along route # Maximum depth: 2073.370494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.370494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095920; longitude = -173.762975; captureRadius = 10; duration = 208; initialDepth = 2045.975166; finalDepth = 1998.370494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1998.370494 # Seafloor depth:-2073.370494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.301444 meters # Minimum depth: 2120.975166 meters looking forward 0.000000 meters along route # Maximum depth: 2120.975166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.975166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096180; longitude = -173.763905; captureRadius = 10; duration = 208; initialDepth = 2088.426636; finalDepth = 2045.975166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2045.975166 # Seafloor depth:-2120.975166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 104.301444 meters # Minimum depth: 2163.426636 meters looking forward 0.000000 meters along route # Maximum depth: 2163.426636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.426636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096431; longitude = -173.764805; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2022.826686; finalDepth = 2088.426636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2088.426636 # Seafloor depth:-2163.426636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.301444 meters # Minimum depth: 2097.826686 meters looking forward 0.000000 meters along route # Maximum depth: 2097.826686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.826686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097456; longitude = -173.764071; captureRadius = 10; duration = 208; initialDepth = 1971.987071; finalDepth = 2022.826686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2022.826686 # Seafloor depth:-2097.826686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.301444 meters # Minimum depth: 2046.987071 meters looking forward 0.000000 meters along route # Maximum depth: 2046.987071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1971.987071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098207; longitude = -173.763533; captureRadius = 10; duration = 208; initialDepth = 1925.904504; finalDepth = 1971.987071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1971.987071 # Seafloor depth:-2046.987071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.301444 meters # Minimum depth: 2000.904504 meters looking forward 0.000000 meters along route # Maximum depth: 2000.904504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.904504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098993; longitude = -173.762971; captureRadius = 10; duration = 208; initialDepth = 1874.300438; finalDepth = 1925.904504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1925.904504 # Seafloor depth:-2000.904504 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.301444 meters # Minimum depth: 1949.300438 meters looking forward 0.000000 meters along route # Maximum depth: 1949.300438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.300438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099767; longitude = -173.762417; captureRadius = 10; duration = 208; initialDepth = 1821.041917; finalDepth = 1874.300438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1874.300438 # Seafloor depth:-1949.300438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.301444 meters # Minimum depth: 1896.041917 meters looking forward 0.000000 meters along route # Maximum depth: 1896.041917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.041917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100530; longitude = -173.761871; captureRadius = 10; duration = 208; initialDepth = 1768.952311; finalDepth = 1821.041917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1821.041917 # Seafloor depth:-1896.041917 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 104.301444 meters # Minimum depth: 1843.952311 meters looking forward 0.000000 meters along route # Maximum depth: 1843.952311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.952311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101283; longitude = -173.761332; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1759.377878; finalDepth = 1768.952311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1768.952311 # Seafloor depth:-1843.952311 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 104.301444 meters # Minimum depth: 1834.377878 meters looking forward 0.000000 meters along route # Maximum depth: 1834.377878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.377878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101976; longitude = -173.761530; captureRadius = 10; duration = 208; initialDepth = 1765.217773; finalDepth = 1759.377878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1759.377878 # Seafloor depth:-1834.377878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 104.301444 meters # Minimum depth: 1840.217773 meters looking forward 0.000000 meters along route # Maximum depth: 1840.217773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.217773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102910; longitude = -173.761797; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1756.198405; finalDepth = 1765.217773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1765.217773 # Seafloor depth:-1840.217773 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 104.301444 meters # Minimum depth: 1831.198405 meters looking forward 0.000000 meters along route # Maximum depth: 1831.198405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.198405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104206; longitude = -173.760804; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1763.927810; finalDepth = 1756.198405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1756.198405 # Seafloor depth:-1831.198405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 104.301444 meters # Minimum depth: 1838.927810 meters looking forward 0.000000 meters along route # Maximum depth: 1838.927810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.927810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104156; longitude = -173.760091; captureRadius = 10; duration = 208; initialDepth = 1786.056803; finalDepth = 1763.927810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1763.92781 # Seafloor depth:-1838.927810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 104.301444 meters # Minimum depth: 1861.056803 meters looking forward 0.000000 meters along route # Maximum depth: 1861.056803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.056803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104086; longitude = -173.759099; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1876.394930; finalDepth = 1786.056803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1786.056803 # Seafloor depth:-1861.056803 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.301444 meters # Minimum depth: 1951.394930 meters looking forward 0.000000 meters along route # Maximum depth: 1951.394930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.394930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105357; longitude = -173.758138; captureRadius = 10; duration = 208; initialDepth = 1924.870227; finalDepth = 1876.394930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1876.39493 # Seafloor depth:-1951.394930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.301444 meters # Minimum depth: 1999.870227 meters looking forward 0.000000 meters along route # Maximum depth: 1999.870227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.870227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106095; longitude = -173.757579; captureRadius = 10; duration = 208; initialDepth = 1980.517359; finalDepth = 1924.870227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1924.870227 # Seafloor depth:-1999.870227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.301444 meters # Minimum depth: 2055.517359 meters looking forward 0.000000 meters along route # Maximum depth: 2055.517359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.517359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106833; longitude = -173.757021; captureRadius = 10; duration = 208; initialDepth = 2024.650589; finalDepth = 1980.517359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1980.517359 # Seafloor depth:-2055.517359 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.301444 meters # Minimum depth: 2099.650589 meters looking forward 0.000000 meters along route # Maximum depth: 2099.650589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.650589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107581; longitude = -173.756456; captureRadius = 10; duration = 208; initialDepth = 2043.719597; finalDepth = 2024.650589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2024.650589 # Seafloor depth:-2099.650589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.301444 meters # Minimum depth: 2118.719597 meters looking forward 0.000000 meters along route # Maximum depth: 2118.719597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.719597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108309; longitude = -173.755905; captureRadius = 10; duration = 208; initialDepth = 2063.418396; finalDepth = 2043.719597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2043.719597 # Seafloor depth:-2118.719597 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 104.301444 meters # Minimum depth: 2138.418396 meters looking forward 0.000000 meters along route # Maximum depth: 2138.418396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.418396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109088; longitude = -173.755316; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2037.347932; finalDepth = 2063.418396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2063.418396 # Seafloor depth:-2138.418396 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 104.301444 meters # Minimum depth: 2112.347932 meters looking forward 0.000000 meters along route # Maximum depth: 2112.347932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.347932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108721; longitude = -173.754696; captureRadius = 10; duration = 208; initialDepth = 2001.337585; finalDepth = 2037.347932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2037.347932 # Seafloor depth:-2112.347932 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 104.301444 meters # Minimum depth: 2076.337585 meters looking forward 0.000000 meters along route # Maximum depth: 2076.337585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.337585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108244; longitude = -173.753889; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1971.358901; finalDepth = 2001.337585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2001.337585 # Seafloor depth:-2076.337585 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 2046.358901 meters looking forward 0.000000 meters along route # Maximum depth: 2046.358901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1971.358901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107419; longitude = -173.754510; captureRadius = 10; duration = 208; initialDepth = 1952.490604; finalDepth = 1971.358901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1971.358901 # Seafloor depth:-2046.358901 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 2027.490604 meters looking forward 0.000000 meters along route # Maximum depth: 2027.490604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.490604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106676; longitude = -173.755068; captureRadius = 10; duration = 208; initialDepth = 1918.421215; finalDepth = 1952.490604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1952.490604 # Seafloor depth:-2027.490604 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1993.421215 meters looking forward 0.000000 meters along route # Maximum depth: 1993.421215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.421215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105933; longitude = -173.755626; captureRadius = 10; duration = 208; initialDepth = 1881.403669; finalDepth = 1918.421215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1918.421215 # Seafloor depth:-1993.421215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1956.403669 meters looking forward 0.000000 meters along route # Maximum depth: 1956.403669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.403669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105191; longitude = -173.756184; captureRadius = 10; duration = 208; initialDepth = 1824.208172; finalDepth = 1881.403669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1881.403669 # Seafloor depth:-1956.403669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1899.208172 meters looking forward 0.000000 meters along route # Maximum depth: 1899.208172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.208172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104448; longitude = -173.756742; captureRadius = 10; duration = 208; initialDepth = 1734.708166; finalDepth = 1824.208172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1824.208172 # Seafloor depth:-1899.208172 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1809.708166 meters looking forward 0.000000 meters along route # Maximum depth: 1809.708166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.708166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103694; longitude = -173.757309; captureRadius = 10; duration = 208; initialDepth = 1686.825051; finalDepth = 1734.708166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1734.708166 # Seafloor depth:-1809.708166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1761.825051 meters looking forward 0.000000 meters along route # Maximum depth: 1761.825051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.825051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102963; longitude = -173.757859; captureRadius = 10; duration = 208; initialDepth = 1628.335139; finalDepth = 1686.825051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1686.825051 # Seafloor depth:-1761.825051 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1703.335139 meters looking forward 0.000000 meters along route # Maximum depth: 1703.335139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.335139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102221; longitude = -173.758417; captureRadius = 10; duration = 208; initialDepth = 1590.467577; finalDepth = 1628.335139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1628.335139 # Seafloor depth:-1703.335139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1665.467577 meters looking forward 0.000000 meters along route # Maximum depth: 1665.467577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.467577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101478; longitude = -173.758975; captureRadius = 10; duration = 208; initialDepth = 1649.247597; finalDepth = 1590.467577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1590.467577 # Seafloor depth:-1665.467577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1734.741475 meters looking forward 0.000000 meters along route # Maximum depth: 1734.741475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.247597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100736; longitude = -173.759533; captureRadius = 10; duration = 208; initialDepth = 1708.487652; finalDepth = 1649.247597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4938775438479 # Actual altitude: 85.4938775438479 # Commanded vehicle depth:1649.24759745615 # Seafloor depth:-1734.741475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 341.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.30; MB_Bottom_Detect_Filter_Max_Range = 341.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1799.694838 meters looking forward 0.000000 meters along route # Maximum depth: 1799.694838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.487652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099987; longitude = -173.760096; captureRadius = 10; duration = 208; initialDepth = 1766.807922; finalDepth = 1708.487652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.2071862479934 # Actual altitude: 91.2071862479934 # Commanded vehicle depth:1708.48765175201 # Seafloor depth:-1799.694838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1853.004334 meters looking forward 0.000000 meters along route # Maximum depth: 1853.004334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.807922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099251; longitude = -173.760649; captureRadius = 10; duration = 208; initialDepth = 1820.396918; finalDepth = 1766.807922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.2071862479934 # Actual altitude: 91.2071862479934 # Commanded vehicle depth:1766.80792242478 # Seafloor depth:-1853.004334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1895.396918 meters looking forward 0.000000 meters along route # Maximum depth: 1895.396918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.396918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098508; longitude = -173.761208; captureRadius = 10; duration = 208; initialDepth = 1865.377170; finalDepth = 1820.396918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1964115752155 # Actual altitude: 86.1964115752155 # Commanded vehicle depth:1820.396918 # Seafloor depth:-1895.396918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 344.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.72; MB_Bottom_Detect_Filter_Max_Range = 344.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 1940.377170 meters looking forward 0.000000 meters along route # Maximum depth: 1940.377170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.377170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097765; longitude = -173.761766; captureRadius = 10; duration = 208; initialDepth = 1924.157665; finalDepth = 1865.377170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1865.37717 # Seafloor depth:-1940.377170 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 2000.759218 meters looking forward 0.000000 meters along route # Maximum depth: 2000.759218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.157665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097023; longitude = -173.762324; captureRadius = 10; duration = 208; initialDepth = 1982.938255; finalDepth = 1924.157665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6015529619353 # Actual altitude: 76.6015529619353 # Commanded vehicle depth:1924.15766503806 # Seafloor depth:-2000.759218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.96; MB_Bottom_Detect_Filter_Max_Range = 306.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.301444 meters # Minimum depth: 2067.457985 meters looking forward 0.000000 meters along route # Maximum depth: 2067.457985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1982.938255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096280; longitude = -173.762882; captureRadius = 10; duration = 208; initialDepth = 2015.811768; finalDepth = 1982.938255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5197302384302 # Actual altitude: 84.5197302384302 # Commanded vehicle depth:1982.93825476157 # Seafloor depth:-2067.457985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.71; MB_Bottom_Detect_Filter_Max_Range = 338.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 104.301444 meters # Minimum depth: 2090.811768 meters looking forward 0.000000 meters along route # Maximum depth: 2090.811768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.811768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095497; longitude = -173.763471; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1988.401702; finalDepth = 2015.811768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5197302384302 # Actual altitude: 84.5197302384302 # Commanded vehicle depth:2015.811768 # Seafloor depth:-2090.811768 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.71; MB_Bottom_Detect_Filter_Max_Range = 338.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.301444 meters # Minimum depth: 2063.401702 meters looking forward 0.000000 meters along route # Maximum depth: 2063.401702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.401702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095081; longitude = -173.762882; captureRadius = 10; duration = 208; initialDepth = 1939.532990; finalDepth = 1988.401702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1988.401702 # Seafloor depth:-2063.401702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 104.301444 meters # Minimum depth: 2014.532990 meters looking forward 0.000000 meters along route # Maximum depth: 2014.532990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.532990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094533; longitude = -173.762107; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1906.614555; finalDepth = 1939.532990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1939.53299 # Seafloor depth:-2014.532990 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1981.614555 meters looking forward 0.000000 meters along route # Maximum depth: 1981.614555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.614555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095352; longitude = -173.761487; captureRadius = 10; duration = 208; initialDepth = 1884.659824; finalDepth = 1906.614555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1906.614555 # Seafloor depth:-1981.614555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1959.659824 meters looking forward 0.000000 meters along route # Maximum depth: 1959.659824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.659824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096090; longitude = -173.760929; captureRadius = 10; duration = 208; initialDepth = 1844.064708; finalDepth = 1884.659824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1884.659824 # Seafloor depth:-1959.659824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1919.064708 meters looking forward 0.000000 meters along route # Maximum depth: 1919.064708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.064708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096827; longitude = -173.760370; captureRadius = 10; duration = 208; initialDepth = 1783.766024; finalDepth = 1844.064708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1844.064708 # Seafloor depth:-1919.064708 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1858.766024 meters looking forward 0.000000 meters along route # Maximum depth: 1858.766024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.766024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097564; longitude = -173.759812; captureRadius = 10; duration = 208; initialDepth = 1718.656388; finalDepth = 1783.766024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1783.766024 # Seafloor depth:-1858.766024 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1793.656388 meters looking forward 0.000000 meters along route # Maximum depth: 1793.656388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.656388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098301; longitude = -173.759254; captureRadius = 10; duration = 208; initialDepth = 1652.961989; finalDepth = 1718.656388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1718.656388 # Seafloor depth:-1793.656388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1727.961989 meters looking forward 0.000000 meters along route # Maximum depth: 1727.961989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.961989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099039; longitude = -173.758696; captureRadius = 10; duration = 208; initialDepth = 1595.447350; finalDepth = 1652.961989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1652.961989 # Seafloor depth:-1727.961989 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1670.447350 meters looking forward 0.000000 meters along route # Maximum depth: 1670.447350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.447350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099776; longitude = -173.758138; captureRadius = 10; duration = 208; initialDepth = 1560.372966; finalDepth = 1595.447350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1595.44735 # Seafloor depth:-1670.447350 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1635.372966 meters looking forward 0.000000 meters along route # Maximum depth: 1635.372966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.372966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100513; longitude = -173.757579; captureRadius = 10; duration = 208; initialDepth = 1580.295210; finalDepth = 1560.372966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1560.372966 # Seafloor depth:-1635.372966 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1655.295210 meters looking forward 0.000000 meters along route # Maximum depth: 1655.295210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.295210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101253; longitude = -173.757019; captureRadius = 10; duration = 208; initialDepth = 1634.069131; finalDepth = 1580.295210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1580.29521 # Seafloor depth:-1655.295210 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1709.069131 meters looking forward 0.000000 meters along route # Maximum depth: 1709.069131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.069131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101987; longitude = -173.756463; captureRadius = 10; duration = 208; initialDepth = 1692.575568; finalDepth = 1634.069131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1634.069131 # Seafloor depth:-1709.069131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1787.941652 meters looking forward 0.000000 meters along route # Maximum depth: 1787.941652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.575568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102725; longitude = -173.755905; captureRadius = 10; duration = 208; initialDepth = 1751.081910; finalDepth = 1692.575568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3660843141124 # Actual altitude: 95.3660843141124 # Commanded vehicle depth:1692.57556768589 # Seafloor depth:-1787.941652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.22; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1839.847955 meters looking forward 0.000000 meters along route # Maximum depth: 1839.847955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.081910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103462; longitude = -173.755347; captureRadius = 10; duration = 208; initialDepth = 1806.888904; finalDepth = 1751.081910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3660843141124 # Actual altitude: 95.3660843141124 # Commanded vehicle depth:1751.08190968633 # Seafloor depth:-1839.847955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.22; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1881.888904 meters looking forward 0.000000 meters along route # Maximum depth: 1881.888904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.888904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104199; longitude = -173.754789; captureRadius = 10; duration = 208; initialDepth = 1843.677575; finalDepth = 1806.888904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.7660453136675 # Actual altitude: 88.7660453136675 # Commanded vehicle depth:1806.888904 # Seafloor depth:-1881.888904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.26; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1918.677575 meters looking forward 0.000000 meters along route # Maximum depth: 1918.677575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.677575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104936; longitude = -173.754230; captureRadius = 10; duration = 208; initialDepth = 1869.648880; finalDepth = 1843.677575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1843.677575 # Seafloor depth:-1918.677575 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1944.648880 meters looking forward 0.000000 meters along route # Maximum depth: 1944.648880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.648880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105683; longitude = -173.753665; captureRadius = 10; duration = 208; initialDepth = 1893.937477; finalDepth = 1869.648880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1869.64888 # Seafloor depth:-1944.648880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 104.301444 meters # Minimum depth: 1968.937477 meters looking forward 0.000000 meters along route # Maximum depth: 1968.937477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.937477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106411; longitude = -173.753114; captureRadius = 10; duration = 208; initialDepth = 1927.752869; finalDepth = 1893.937477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1893.937477 # Seafloor depth:-1968.937477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 104.301444 meters # Minimum depth: 2002.752869 meters looking forward 0.000000 meters along route # Maximum depth: 2002.752869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.752869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107189; longitude = -173.752525; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1872.734467; finalDepth = 1927.752869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1927.752869 # Seafloor depth:-2002.752869 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 104.301444 meters # Minimum depth: 1947.734467 meters looking forward 0.000000 meters along route # Maximum depth: 1947.734467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.734467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106255; longitude = -173.751191; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1832.744684; finalDepth = 1872.734467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1872.734467 # Seafloor depth:-1947.734467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1907.744684 meters looking forward 0.000000 meters along route # Maximum depth: 1907.744684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.744684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105434; longitude = -173.751812; captureRadius = 10; duration = 208; initialDepth = 1796.341836; finalDepth = 1832.744684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1832.744684 # Seafloor depth:-1907.744684 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1871.341836 meters looking forward 0.000000 meters along route # Maximum depth: 1871.341836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.341836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104688; longitude = -173.752375; captureRadius = 10; duration = 208; initialDepth = 1768.075174; finalDepth = 1796.341836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1796.341836 # Seafloor depth:-1871.341836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1843.075174 meters looking forward 0.000000 meters along route # Maximum depth: 1843.075174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.075174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103957; longitude = -173.752928; captureRadius = 10; duration = 208; initialDepth = 1743.067189; finalDepth = 1768.075174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1768.075174 # Seafloor depth:-1843.075174 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1818.067189 meters looking forward 0.000000 meters along route # Maximum depth: 1818.067189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.067189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103219; longitude = -173.753486; captureRadius = 10; duration = 208; initialDepth = 1695.583011; finalDepth = 1743.067189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1743.067189 # Seafloor depth:-1818.067189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1770.583011 meters looking forward 0.000000 meters along route # Maximum depth: 1770.583011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.583011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102481; longitude = -173.754044; captureRadius = 10; duration = 208; initialDepth = 1637.752932; finalDepth = 1695.583011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1695.583011 # Seafloor depth:-1770.583011 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1712.752932 meters looking forward 0.000000 meters along route # Maximum depth: 1712.752932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.752932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101742; longitude = -173.754603; captureRadius = 10; duration = 208; initialDepth = 1593.050391; finalDepth = 1637.752932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1637.752932 # Seafloor depth:-1712.752932 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1668.050391 meters looking forward 0.000000 meters along route # Maximum depth: 1668.050391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.050391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101004; longitude = -173.755161; captureRadius = 10; duration = 208; initialDepth = 1521.006583; finalDepth = 1593.050391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1593.050391 # Seafloor depth:-1668.050391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1596.006583 meters looking forward 0.000000 meters along route # Maximum depth: 1596.006583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.006583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100259; longitude = -173.755724; captureRadius = 10; duration = 208; initialDepth = 1487.051407; finalDepth = 1521.006583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1521.006583 # Seafloor depth:-1596.006583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1562.051407 meters looking forward 0.000000 meters along route # Maximum depth: 1562.051407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.051407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099527; longitude = -173.756277; captureRadius = 10; duration = 208; initialDepth = 1545.615151; finalDepth = 1487.051407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1487.051407 # Seafloor depth:-1562.051407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1630.875536 meters looking forward 0.000000 meters along route # Maximum depth: 1630.875536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.615151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098789; longitude = -173.756835; captureRadius = 10; duration = 208; initialDepth = 1604.178989; finalDepth = 1545.615151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2603851049257 # Actual altitude: 85.2603851049257 # Commanded vehicle depth:1545.61515089507 # Seafloor depth:-1630.875536 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 341.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.16; MB_Bottom_Detect_Filter_Max_Range = 341.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1703.878330 meters looking forward 0.000000 meters along route # Maximum depth: 1703.878330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.178989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098051; longitude = -173.757393; captureRadius = 10; duration = 208; initialDepth = 1662.742922; finalDepth = 1604.178989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.6993405244086 # Actual altitude: 99.6993405244086 # Commanded vehicle depth:1604.17898947559 # Seafloor depth:-1703.878330 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 59.82; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1772.458445 meters looking forward 0.000000 meters along route # Maximum depth: 1772.458445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.742922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097312; longitude = -173.757952; captureRadius = 10; duration = 208; initialDepth = 1721.306950; finalDepth = 1662.742922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.715522835801 # Actual altitude: 100 # Commanded vehicle depth:1662.7429221642 # Seafloor depth:-1772.458445 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1819.373883 meters looking forward 0.000000 meters along route # Maximum depth: 1819.373883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.306950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096574; longitude = -173.758510; captureRadius = 10; duration = 208; initialDepth = 1770.277920; finalDepth = 1721.306950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.715522835801 # Actual altitude: 100 # Commanded vehicle depth:1721.3069501156 # Seafloor depth:-1819.373883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1845.277920 meters looking forward 0.000000 meters along route # Maximum depth: 1845.277920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.277920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095829; longitude = -173.759073; captureRadius = 10; duration = 208; initialDepth = 1804.836019; finalDepth = 1770.277920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0669328843987 # Actual altitude: 98.0669328843987 # Commanded vehicle depth:1770.27792 # Seafloor depth:-1845.277920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 58.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1879.836019 meters looking forward 0.000000 meters along route # Maximum depth: 1879.836019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.836019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095097; longitude = -173.759626; captureRadius = 10; duration = 208; initialDepth = 1838.291110; finalDepth = 1804.836019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1804.836019 # Seafloor depth:-1879.836019 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 104.301444 meters # Minimum depth: 1913.291110 meters looking forward 0.000000 meters along route # Maximum depth: 1913.291110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.291110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094292; longitude = -173.760235; captureRadius = 10; duration = 208; initialDepth = 1872.531158; finalDepth = 1838.291110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1838.29111 # Seafloor depth:-1913.291110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 104.301444 meters # Minimum depth: 1947.531158 meters looking forward 0.000000 meters along route # Maximum depth: 1947.531158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.531158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093539; longitude = -173.760804; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1835.373849; finalDepth = 1872.531158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1872.531158 # Seafloor depth:-1947.531158 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 104.301444 meters # Minimum depth: 1910.373849 meters looking forward 0.000000 meters along route # Maximum depth: 1910.373849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.373849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093097; longitude = -173.760184; captureRadius = 10; duration = 208; initialDepth = 1798.589478; finalDepth = 1835.373849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1835.373849 # Seafloor depth:-1910.373849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 104.301444 meters # Minimum depth: 1873.589478 meters looking forward 0.000000 meters along route # Maximum depth: 1873.589478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.589478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092544; longitude = -173.759409; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1766.296274; finalDepth = 1798.589478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1798.589478 # Seafloor depth:-1873.589478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1841.296274 meters looking forward 0.000000 meters along route # Maximum depth: 1841.296274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.296274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093252; longitude = -173.758882; captureRadius = 10; duration = 208; initialDepth = 1725.713753; finalDepth = 1766.296274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1766.296274 # Seafloor depth:-1841.296274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1800.713753 meters looking forward 0.000000 meters along route # Maximum depth: 1800.713753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.713753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094002; longitude = -173.758324; captureRadius = 10; duration = 208; initialDepth = 1691.137886; finalDepth = 1725.713753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1725.713753 # Seafloor depth:-1800.713753 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1766.137886 meters looking forward 0.000000 meters along route # Maximum depth: 1766.137886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.137886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094752; longitude = -173.757766; captureRadius = 10; duration = 208; initialDepth = 1667.754726; finalDepth = 1691.137886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1691.137886 # Seafloor depth:-1766.137886 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1742.754726 meters looking forward 0.000000 meters along route # Maximum depth: 1742.754726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.754726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095502; longitude = -173.757207; captureRadius = 10; duration = 208; initialDepth = 1629.772990; finalDepth = 1667.754726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1667.754726 # Seafloor depth:-1742.754726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1704.772990 meters looking forward 0.000000 meters along route # Maximum depth: 1704.772990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.772990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096251; longitude = -173.756649; captureRadius = 10; duration = 208; initialDepth = 1571.985538; finalDepth = 1629.772990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1629.77299 # Seafloor depth:-1704.772990 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1646.985538 meters looking forward 0.000000 meters along route # Maximum depth: 1646.985538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.985538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097004; longitude = -173.756089; captureRadius = 10; duration = 208; initialDepth = 1529.413068; finalDepth = 1571.985538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1571.985538 # Seafloor depth:-1646.985538 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1604.413068 meters looking forward 0.000000 meters along route # Maximum depth: 1604.413068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.413068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097751; longitude = -173.755533; captureRadius = 10; duration = 208; initialDepth = 1467.786977; finalDepth = 1529.413068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1529.413068 # Seafloor depth:-1604.413068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1542.786977 meters looking forward 0.000000 meters along route # Maximum depth: 1542.786977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.786977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098501; longitude = -173.754975; captureRadius = 10; duration = 208; initialDepth = 1447.184435; finalDepth = 1467.786977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1467.786977 # Seafloor depth:-1542.786977 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1522.184435 meters looking forward 0.000000 meters along route # Maximum depth: 1522.184435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.184435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099264; longitude = -173.754406; captureRadius = 10; duration = 208; initialDepth = 1505.282586; finalDepth = 1447.184435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1447.184435 # Seafloor depth:-1522.184435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1604.781177 meters looking forward 0.000000 meters along route # Maximum depth: 1604.781177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.282586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100000; longitude = -173.753858; captureRadius = 10; duration = 208; initialDepth = 1564.438755; finalDepth = 1505.282586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4985912502534 # Actual altitude: 99.4985912502534 # Commanded vehicle depth:1505.28258574975 # Seafloor depth:-1604.781177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 59.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1645.299076 meters looking forward 0.000000 meters along route # Maximum depth: 1645.299076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.438755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100750; longitude = -173.753300; captureRadius = 10; duration = 208; initialDepth = 1621.983116; finalDepth = 1564.438755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4985912502534 # Actual altitude: 99.4985912502534 # Commanded vehicle depth:1564.43875451732 # Seafloor depth:-1645.299076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 59.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1696.983116 meters looking forward 0.000000 meters along route # Maximum depth: 1696.983116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.983116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101500; longitude = -173.752742; captureRadius = 10; duration = 208; initialDepth = 1665.926478; finalDepth = 1621.983116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8603214826812 # Actual altitude: 80.8603214826812 # Commanded vehicle depth:1621.983116 # Seafloor depth:-1696.983116 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 323.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.52; MB_Bottom_Detect_Filter_Max_Range = 323.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1740.926478 meters looking forward 0.000000 meters along route # Maximum depth: 1740.926478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.926478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102250; longitude = -173.752184; captureRadius = 10; duration = 208; initialDepth = 1690.799930; finalDepth = 1665.926478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1665.926478 # Seafloor depth:-1740.926478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1765.799930 meters looking forward 0.000000 meters along route # Maximum depth: 1765.799930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.799930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103000; longitude = -173.751626; captureRadius = 10; duration = 208; initialDepth = 1732.520622; finalDepth = 1690.799930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1690.79993 # Seafloor depth:-1765.799930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1807.520622 meters looking forward 0.000000 meters along route # Maximum depth: 1807.520622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.520622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103750; longitude = -173.751067; captureRadius = 10; duration = 208; initialDepth = 1767.384412; finalDepth = 1732.520622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1732.520622 # Seafloor depth:-1807.520622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.301444 meters # Minimum depth: 1842.384412 meters looking forward 0.000000 meters along route # Maximum depth: 1842.384412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.384412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.750503; captureRadius = 10; duration = 208; initialDepth = 1795.414490; finalDepth = 1767.384412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1767.384412 # Seafloor depth:-1842.384412 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 104.301444 meters # Minimum depth: 1870.414490 meters looking forward 0.000000 meters along route # Maximum depth: 1870.414490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.414490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105291; longitude = -173.749920; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1740.023927; finalDepth = 1795.414490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1795.41449 # Seafloor depth:-1870.414490 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 104.301444 meters # Minimum depth: 1815.023927 meters looking forward 0.000000 meters along route # Maximum depth: 1815.023927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.023927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104849; longitude = -173.749300; captureRadius = 10; duration = 208; initialDepth = 1705.185272; finalDepth = 1740.023927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1740.023927 # Seafloor depth:-1815.023927 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 104.301444 meters # Minimum depth: 1780.185272 meters looking forward 0.000000 meters along route # Maximum depth: 1780.185272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.185272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104296; longitude = -173.748525; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1667.592878; finalDepth = 1705.185272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1705.185272 # Seafloor depth:-1780.185272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.301444 meters # Minimum depth: 1742.592878 meters looking forward 0.000000 meters along route # Maximum depth: 1742.592878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.592878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103694; longitude = -173.748859; captureRadius = 10; duration = 208; initialDepth = 1605.806612; finalDepth = 1667.592878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1667.592878 # Seafloor depth:-1742.592878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.301444 meters # Minimum depth: 1680.806612 meters looking forward 0.000000 meters along route # Maximum depth: 1680.806612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.806612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102880; longitude = -173.749311; captureRadius = 10; duration = 208; initialDepth = 1580.798828; finalDepth = 1605.806612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1605.806612 # Seafloor depth:-1680.806612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 104.301444 meters # Minimum depth: 1655.798828 meters looking forward 0.000000 meters along route # Maximum depth: 1655.798828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.798828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102006; longitude = -173.749796; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1575.859928; finalDepth = 1580.798828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1580.798828 # Seafloor depth:-1655.798828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.301444 meters # Minimum depth: 1650.859928 meters looking forward 0.000000 meters along route # Maximum depth: 1650.859928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.859928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101303; longitude = -173.750602; captureRadius = 10; duration = 208; initialDepth = 1556.283529; finalDepth = 1575.859928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1575.859928 # Seafloor depth:-1650.859928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 104.301444 meters # Minimum depth: 1631.283529 meters looking forward 0.000000 meters along route # Maximum depth: 1631.283529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.283529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100680; longitude = -173.751316; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1519.210781; finalDepth = 1556.283529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1556.283529 # Seafloor depth:-1631.283529 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1594.210781 meters looking forward 0.000000 meters along route # Maximum depth: 1594.210781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.210781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099896; longitude = -173.751905; captureRadius = 10; duration = 208; initialDepth = 1445.299552; finalDepth = 1519.210781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1519.210781 # Seafloor depth:-1594.210781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1520.299552 meters looking forward 0.000000 meters along route # Maximum depth: 1520.299552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.299552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099153; longitude = -173.752463; captureRadius = 10; duration = 208; initialDepth = 1386.800215; finalDepth = 1445.299552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1445.299552 # Seafloor depth:-1520.299552 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1461.800215 meters looking forward 0.000000 meters along route # Maximum depth: 1461.800215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.800215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098410; longitude = -173.753021; captureRadius = 10; duration = 208; initialDepth = 1386.920947; finalDepth = 1386.800215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1386.800215 # Seafloor depth:-1461.800215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1461.920947 meters looking forward 0.000000 meters along route # Maximum depth: 1461.920947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.920947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097667; longitude = -173.753579; captureRadius = 10; duration = 208; initialDepth = 1446.551686; finalDepth = 1386.920947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1386.920947 # Seafloor depth:-1461.920947 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1532.993195 meters looking forward 0.000000 meters along route # Maximum depth: 1532.993195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.551686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096914; longitude = -173.754145; captureRadius = 10; duration = 208; initialDepth = 1502.695409; finalDepth = 1446.551686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4415094452984 # Actual altitude: 86.4415094452984 # Commanded vehicle depth:1446.5516855547 # Seafloor depth:-1532.993195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 345.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.86; MB_Bottom_Detect_Filter_Max_Range = 345.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1577.695409 meters looking forward 0.000000 meters along route # Maximum depth: 1577.695409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.695409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096181; longitude = -173.754696; captureRadius = 10; duration = 208; initialDepth = 1548.314394; finalDepth = 1502.695409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4415094452984 # Actual altitude: 86.4415094452984 # Commanded vehicle depth:1502.695409 # Seafloor depth:-1577.695409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 345.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.86; MB_Bottom_Detect_Filter_Max_Range = 345.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1623.314394 meters looking forward 0.000000 meters along route # Maximum depth: 1623.314394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.314394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095438; longitude = -173.755254; captureRadius = 10; duration = 208; initialDepth = 1573.448358; finalDepth = 1548.314394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1548.314394 # Seafloor depth:-1623.314394 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1648.448358 meters looking forward 0.000000 meters along route # Maximum depth: 1648.448358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.448358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094695; longitude = -173.755812; captureRadius = 10; duration = 208; initialDepth = 1617.646242; finalDepth = 1573.448358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1573.448358 # Seafloor depth:-1648.448358 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1692.646242 meters looking forward 0.000000 meters along route # Maximum depth: 1692.646242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.646242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093952; longitude = -173.756370; captureRadius = 10; duration = 208; initialDepth = 1662.355158; finalDepth = 1617.646242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1617.646242 # Seafloor depth:-1692.646242 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1737.355158 meters looking forward 0.000000 meters along route # Maximum depth: 1737.355158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.355158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093207; longitude = -173.756930; captureRadius = 10; duration = 208; initialDepth = 1695.290887; finalDepth = 1662.355158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1662.355158 # Seafloor depth:-1737.355158 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.301444 meters # Minimum depth: 1770.290887 meters looking forward 0.000000 meters along route # Maximum depth: 1770.290887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.290887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092394; longitude = -173.757541; captureRadius = 10; duration = 208; initialDepth = 1736.141724; finalDepth = 1695.290887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1695.290887 # Seafloor depth:-1770.290887 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 104.301444 meters # Minimum depth: 1811.141724 meters looking forward 0.000000 meters along route # Maximum depth: 1811.141724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.141724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091640; longitude = -173.758107; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1705.993968; finalDepth = 1736.141724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1736.141724 # Seafloor depth:-1811.141724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.301444 meters # Minimum depth: 1780.993968 meters looking forward 0.000000 meters along route # Maximum depth: 1780.993968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.993968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091198; longitude = -173.757486; captureRadius = 10; duration = 208; initialDepth = 1686.565491; finalDepth = 1705.993968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1705.993968 # Seafloor depth:-1780.993968 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 104.301444 meters # Minimum depth: 1761.565491 meters looking forward 0.000000 meters along route # Maximum depth: 1761.565491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.565491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090646; longitude = -173.756711; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1618.310553; finalDepth = 1686.565491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1686.565491 # Seafloor depth:-1761.565491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1693.310553 meters looking forward 0.000000 meters along route # Maximum depth: 1693.310553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.310553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091761; longitude = -173.755892; captureRadius = 10; duration = 208; initialDepth = 1577.222258; finalDepth = 1618.310553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1618.310553 # Seafloor depth:-1693.310553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1652.222258 meters looking forward 0.000000 meters along route # Maximum depth: 1652.222258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.222258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092502; longitude = -173.755347; captureRadius = 10; duration = 208; initialDepth = 1534.092846; finalDepth = 1577.222258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1577.222258 # Seafloor depth:-1652.222258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1609.092846 meters looking forward 0.000000 meters along route # Maximum depth: 1609.092846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.092846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093261; longitude = -173.754789; captureRadius = 10; duration = 208; initialDepth = 1497.810025; finalDepth = 1534.092846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1534.092846 # Seafloor depth:-1609.092846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1572.810025 meters looking forward 0.000000 meters along route # Maximum depth: 1572.810025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.810025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094021; longitude = -173.754230; captureRadius = 10; duration = 208; initialDepth = 1440.276565; finalDepth = 1497.810025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1497.810025 # Seafloor depth:-1572.810025 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1515.276565 meters looking forward 0.000000 meters along route # Maximum depth: 1515.276565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.276565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094780; longitude = -173.753672; captureRadius = 10; duration = 208; initialDepth = 1373.662183; finalDepth = 1440.276565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1440.276565 # Seafloor depth:-1515.276565 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1448.662183 meters looking forward 0.000000 meters along route # Maximum depth: 1448.662183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.662183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095558; longitude = -173.753101; captureRadius = 10; duration = 208; initialDepth = 1341.478400; finalDepth = 1373.662183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1373.662183 # Seafloor depth:-1448.662183 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1416.478400 meters looking forward 0.000000 meters along route # Maximum depth: 1416.478400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.478400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096299; longitude = -173.752556; captureRadius = 10; duration = 208; initialDepth = 1292.571278; finalDepth = 1341.478400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1341.4784 # Seafloor depth:-1416.478400 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1367.571278 meters looking forward 0.000000 meters along route # Maximum depth: 1367.571278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.571278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097058; longitude = -173.751998; captureRadius = 10; duration = 208; initialDepth = 1352.224557; finalDepth = 1292.571278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1292.571278 # Seafloor depth:-1367.571278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1433.924796 meters looking forward 0.000000 meters along route # Maximum depth: 1433.924796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.224557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097818; longitude = -173.751440; captureRadius = 10; duration = 208; initialDepth = 1411.876388; finalDepth = 1352.224557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7002385365536 # Actual altitude: 81.7002385365536 # Commanded vehicle depth:1352.22455746345 # Seafloor depth:-1433.924796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 326.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.02; MB_Bottom_Detect_Filter_Max_Range = 326.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1493.379918 meters looking forward 0.000000 meters along route # Maximum depth: 1493.379918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.876388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098577; longitude = -173.750881; captureRadius = 10; duration = 208; initialDepth = 1457.091705; finalDepth = 1411.876388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7002385365536 # Actual altitude: 81.7002385365536 # Commanded vehicle depth:1411.8763883551 # Seafloor depth:-1493.379918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 326.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.02; MB_Bottom_Detect_Filter_Max_Range = 326.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.301444 meters # Minimum depth: 1532.091705 meters looking forward 0.000000 meters along route # Maximum depth: 1532.091705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.091705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099354; longitude = -173.750310; captureRadius = 10; duration = 208; initialDepth = 1482.244303; finalDepth = 1457.091705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5035296449016 # Actual altitude: 81.5035296449016 # Commanded vehicle depth:1457.091705 # Seafloor depth:-1532.091705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 326.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.90; MB_Bottom_Detect_Filter_Max_Range = 326.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 104.301444 meters # Minimum depth: 1557.244303 meters looking forward 0.000000 meters along route # Maximum depth: 1557.244303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.244303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100138; longitude = -173.749734; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1464.564128; finalDepth = 1482.244303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1482.244303 # Seafloor depth:-1557.244303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 104.301444 meters # Minimum depth: 1539.564128 meters looking forward 0.000000 meters along route # Maximum depth: 1539.564128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.564128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100319; longitude = -173.749176; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1485.022461; finalDepth = 1464.564128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1464.564128 # Seafloor depth:-1539.564128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 104.301444 meters # Minimum depth: 1560.022461 meters looking forward 0.000000 meters along route # Maximum depth: 1560.022461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.022461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101404; longitude = -173.748153; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1563.991814; finalDepth = 1485.022461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1485.022461 # Seafloor depth:-1560.022461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.301444 meters # Minimum depth: 1641.749306 meters looking forward 0.000000 meters along route # Maximum depth: 1641.749306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.991814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102519; longitude = -173.747605; captureRadius = 10; duration = 208; initialDepth = 1623.730805; finalDepth = 1563.991814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7574916871592 # Actual altitude: 77.7574916871592 # Commanded vehicle depth:1563.99181431284 # Seafloor depth:-1641.749306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 311.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.65; MB_Bottom_Detect_Filter_Max_Range = 311.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 104.301444 meters # Minimum depth: 1705.155609 meters looking forward 0.000000 meters along route # Maximum depth: 1705.155609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.730805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103362; longitude = -173.747191; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1600.472329; finalDepth = 1623.730805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4248041139163 # Actual altitude: 81.4248041139163 # Commanded vehicle depth:1623.73080488608 # Seafloor depth:-1705.155609 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.85; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.301444 meters # Minimum depth: 1675.472329 meters looking forward 0.000000 meters along route # Maximum depth: 1675.472329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.472329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102971; longitude = -173.746587; captureRadius = 10; duration = 208; initialDepth = 1609.685577; finalDepth = 1600.472329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 81.4248041139163 # Actual altitude: 81.4248041139163 # Commanded vehicle depth:1600.472329 # Seafloor depth:-1675.472329 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.85; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 104.301444 meters # Minimum depth: 1684.685577 meters looking forward 0.000000 meters along route # Maximum depth: 1684.685577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.685577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102458; longitude = -173.745796; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1544.402248; finalDepth = 1609.685577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1609.685577 # Seafloor depth:-1684.685577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1619.402248 meters looking forward 0.000000 meters along route # Maximum depth: 1619.402248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.402248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101633; longitude = -173.746416; captureRadius = 10; duration = 208; initialDepth = 1489.992667; finalDepth = 1544.402248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1544.402248 # Seafloor depth:-1619.402248 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1564.992667 meters looking forward 0.000000 meters along route # Maximum depth: 1564.992667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.992667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100891; longitude = -173.746974; captureRadius = 10; duration = 208; initialDepth = 1415.891636; finalDepth = 1489.992667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1489.992667 # Seafloor depth:-1564.992667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1490.891636 meters looking forward 0.000000 meters along route # Maximum depth: 1490.891636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.891636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100148; longitude = -173.747532; captureRadius = 10; duration = 208; initialDepth = 1383.754640; finalDepth = 1415.891636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1415.891636 # Seafloor depth:-1490.891636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1458.754640 meters looking forward 0.000000 meters along route # Maximum depth: 1458.754640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.754640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099406; longitude = -173.748091; captureRadius = 10; duration = 208; initialDepth = 1366.667509; finalDepth = 1383.754640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1383.75464 # Seafloor depth:-1458.754640 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1441.667509 meters looking forward 0.000000 meters along route # Maximum depth: 1441.667509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.667509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098663; longitude = -173.748649; captureRadius = 10; duration = 208; initialDepth = 1345.264814; finalDepth = 1366.667509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1366.667509 # Seafloor depth:-1441.667509 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1420.264814 meters looking forward 0.000000 meters along route # Maximum depth: 1420.264814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.264814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097908; longitude = -173.749216; captureRadius = 10; duration = 208; initialDepth = 1316.574472; finalDepth = 1345.264814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1345.264814 # Seafloor depth:-1420.264814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1391.574472 meters looking forward 0.000000 meters along route # Maximum depth: 1391.574472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.574472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097178; longitude = -173.749765; captureRadius = 10; duration = 208; initialDepth = 1254.825259; finalDepth = 1316.574472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1316.574472 # Seafloor depth:-1391.574472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1329.825259 meters looking forward 0.000000 meters along route # Maximum depth: 1329.825259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.825259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096436; longitude = -173.750323; captureRadius = 10; duration = 208; initialDepth = 1212.301415; finalDepth = 1254.825259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1254.825259 # Seafloor depth:-1329.825259 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1287.301415 meters looking forward 0.000000 meters along route # Maximum depth: 1287.301415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.301415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095693; longitude = -173.750881; captureRadius = 10; duration = 208; initialDepth = 1271.078591; finalDepth = 1212.301415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1212.301415 # Seafloor depth:-1287.301415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1368.141166 meters looking forward 0.000000 meters along route # Maximum depth: 1368.141166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1271.078591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094951; longitude = -173.751440; captureRadius = 10; duration = 208; initialDepth = 1330.399262; finalDepth = 1271.078591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0625751485647 # Actual altitude: 97.0625751485647 # Commanded vehicle depth:1271.07859085144 # Seafloor depth:-1368.141166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 58.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1427.614902 meters looking forward 0.000000 meters along route # Maximum depth: 1427.614902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.399262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094202; longitude = -173.752003; captureRadius = 10; duration = 208; initialDepth = 1388.633227; finalDepth = 1330.399262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.2156397042361 # Actual altitude: 97.2156397042361 # Commanded vehicle depth:1330.39926229576 # Seafloor depth:-1427.614902 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 58.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1466.621752 meters looking forward 0.000000 meters along route # Maximum depth: 1466.621752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.633227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093466; longitude = -173.752556; captureRadius = 10; duration = 208; initialDepth = 1438.246475; finalDepth = 1388.633227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.2156397042361 # Actual altitude: 97.2156397042361 # Commanded vehicle depth:1388.63322661063 # Seafloor depth:-1466.621752 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 58.33; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1513.246475 meters looking forward 0.000000 meters along route # Maximum depth: 1513.246475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.246475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092723; longitude = -173.753114; captureRadius = 10; duration = 208; initialDepth = 1489.644863; finalDepth = 1438.246475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9885253893694 # Actual altitude: 77.9885253893694 # Commanded vehicle depth:1438.246475 # Seafloor depth:-1513.246475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 311.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.79; MB_Bottom_Detect_Filter_Max_Range = 311.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1564.644863 meters looking forward 0.000000 meters along route # Maximum depth: 1564.644863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.644863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091981; longitude = -173.753672; captureRadius = 10; duration = 208; initialDepth = 1543.528846; finalDepth = 1489.644863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1489.644863 # Seafloor depth:-1564.644863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1618.528846 meters looking forward 0.000000 meters along route # Maximum depth: 1618.528846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.528846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091239; longitude = -173.754230; captureRadius = 10; duration = 208; initialDepth = 1596.257921; finalDepth = 1543.528846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1543.528846 # Seafloor depth:-1618.528846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.301444 meters # Minimum depth: 1671.257921 meters looking forward 0.000000 meters along route # Maximum depth: 1671.257921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.257921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090495; longitude = -173.754789; captureRadius = 10; duration = 208; initialDepth = 1651.651581; finalDepth = 1596.257921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1596.257921 # Seafloor depth:-1671.257921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 104.301444 meters # Minimum depth: 1726.651581 meters looking forward 0.000000 meters along route # Maximum depth: 1726.651581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.651581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089712; longitude = -173.755378; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1636.578886; finalDepth = 1651.651581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1651.651581 # Seafloor depth:-1726.651581 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.301444 meters # Minimum depth: 1711.578886 meters looking forward 0.000000 meters along route # Maximum depth: 1711.578886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.578886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089295; longitude = -173.754789; captureRadius = 10; duration = 208; initialDepth = 1625.198578; finalDepth = 1636.578886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1636.578886 # Seafloor depth:-1711.578886 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 104.301444 meters # Minimum depth: 1700.198578 meters looking forward 0.000000 meters along route # Maximum depth: 1700.198578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.198578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088747; longitude = -173.754013; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1568.146388; finalDepth = 1625.198578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1625.198578 # Seafloor depth:-1700.198578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1643.146388 meters looking forward 0.000000 meters along route # Maximum depth: 1643.146388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.146388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089451; longitude = -173.753486; captureRadius = 10; duration = 208; initialDepth = 1514.803105; finalDepth = 1568.146388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1568.146388 # Seafloor depth:-1643.146388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1589.803105 meters looking forward 0.000000 meters along route # Maximum depth: 1589.803105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.803105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090196; longitude = -173.752928; captureRadius = 10; duration = 208; initialDepth = 1462.185929; finalDepth = 1514.803105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1514.803105 # Seafloor depth:-1589.803105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1537.185929 meters looking forward 0.000000 meters along route # Maximum depth: 1537.185929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.185929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090947; longitude = -173.752366; captureRadius = 10; duration = 208; initialDepth = 1404.700045; finalDepth = 1462.185929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1462.185929 # Seafloor depth:-1537.185929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1479.700045 meters looking forward 0.000000 meters along route # Maximum depth: 1479.700045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.700045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091688; longitude = -173.751812; captureRadius = 10; duration = 208; initialDepth = 1348.903876; finalDepth = 1404.700045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1404.700045 # Seafloor depth:-1479.700045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1423.903876 meters looking forward 0.000000 meters along route # Maximum depth: 1423.903876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.903876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092433; longitude = -173.751254; captureRadius = 10; duration = 208; initialDepth = 1286.740103; finalDepth = 1348.903876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1348.903876 # Seafloor depth:-1423.903876 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1361.740103 meters looking forward 0.000000 meters along route # Maximum depth: 1361.740103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1286.740103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093179; longitude = -173.750695; captureRadius = 10; duration = 208; initialDepth = 1230.438567; finalDepth = 1286.740103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1286.740103 # Seafloor depth:-1361.740103 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1305.438567 meters looking forward 0.000000 meters along route # Maximum depth: 1305.438567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.438567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093930; longitude = -173.750133; captureRadius = 10; duration = 208; initialDepth = 1174.636356; finalDepth = 1230.438567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1230.438567 # Seafloor depth:-1305.438567 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1249.636356 meters looking forward 0.000000 meters along route # Maximum depth: 1249.636356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.636356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094670; longitude = -173.749579; captureRadius = 10; duration = 208; initialDepth = 1178.562653; finalDepth = 1174.636356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1174.636356 # Seafloor depth:-1249.636356 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1253.562653 meters looking forward 0.000000 meters along route # Maximum depth: 1253.562653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.562653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095416; longitude = -173.749021; captureRadius = 10; duration = 208; initialDepth = 1217.852417; finalDepth = 1178.562653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1178.562653 # Seafloor depth:-1253.562653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1292.852417 meters looking forward 0.000000 meters along route # Maximum depth: 1292.852417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.852417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096161; longitude = -173.748463; captureRadius = 10; duration = 208; initialDepth = 1262.526007; finalDepth = 1217.852417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1217.852417 # Seafloor depth:-1292.852417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1337.526007 meters looking forward 0.000000 meters along route # Maximum depth: 1337.526007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.526007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096914; longitude = -173.747899; captureRadius = 10; duration = 208; initialDepth = 1320.932948; finalDepth = 1262.526007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1262.526007 # Seafloor depth:-1337.526007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1396.932693 meters looking forward 0.000000 meters along route # Maximum depth: 1396.932693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1320.932948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097653; longitude = -173.747346; captureRadius = 10; duration = 208; initialDepth = 1379.871652; finalDepth = 1320.932948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9997446613008 # Actual altitude: 75.9997446613008 # Commanded vehicle depth:1320.9329483387 # Seafloor depth:-1396.932693 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 304.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.60; MB_Bottom_Detect_Filter_Max_Range = 304.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1455.035801 meters looking forward 0.000000 meters along route # Maximum depth: 1455.035801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.871652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098398; longitude = -173.746788; captureRadius = 10; duration = 208; initialDepth = 1437.087846; finalDepth = 1379.871652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9997446613008 # Actual altitude: 75.9997446613008 # Commanded vehicle depth:1379.87165235836 # Seafloor depth:-1455.035801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 304.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.60; MB_Bottom_Detect_Filter_Max_Range = 304.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1512.087846 meters looking forward 0.000000 meters along route # Maximum depth: 1512.087846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.087846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099144; longitude = -173.746230; captureRadius = 10; duration = 208; initialDepth = 1495.344485; finalDepth = 1437.087846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1641486416352 # Actual altitude: 75.1641486416352 # Commanded vehicle depth:1437.087846 # Seafloor depth:-1512.087846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.10; MB_Bottom_Detect_Filter_Max_Range = 300.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1570.344485 meters looking forward 0.000000 meters along route # Maximum depth: 1570.344485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.344485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099897; longitude = -173.745666; captureRadius = 10; duration = 208; initialDepth = 1558.863719; finalDepth = 1495.344485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1495.344485 # Seafloor depth:-1570.344485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.301444 meters # Minimum depth: 1633.863719 meters looking forward 0.000000 meters along route # Maximum depth: 1633.863719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.863719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100711; longitude = -173.745057; captureRadius = 10; duration = 208; initialDepth = 1612.212402; finalDepth = 1558.863719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1558.863719 # Seafloor depth:-1633.863719 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 104.301444 meters # Minimum depth: 1687.212402 meters looking forward 0.000000 meters along route # Maximum depth: 1687.212402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.212402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101464; longitude = -173.744493; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1613.535316; finalDepth = 1612.212402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1612.212402 # Seafloor depth:-1687.212402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.301444 meters # Minimum depth: 1688.535316 meters looking forward 0.000000 meters along route # Maximum depth: 1688.535316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.535316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101044; longitude = -173.743904; captureRadius = 10; duration = 208; initialDepth = 1618.042114; finalDepth = 1613.535316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1613.535316 # Seafloor depth:-1688.535316 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 104.301444 meters # Minimum depth: 1693.042114 meters looking forward 0.000000 meters along route # Maximum depth: 1693.042114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.042114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100469; longitude = -173.743098; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1562.714193; finalDepth = 1618.042114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1618.042114 # Seafloor depth:-1693.042114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1637.714193 meters looking forward 0.000000 meters along route # Maximum depth: 1637.714193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.714193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099766; longitude = -173.743625; captureRadius = 10; duration = 208; initialDepth = 1504.911556; finalDepth = 1562.714193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1562.714193 # Seafloor depth:-1637.714193 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1579.911556 meters looking forward 0.000000 meters along route # Maximum depth: 1579.911556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.911556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099021; longitude = -173.744183; captureRadius = 10; duration = 208; initialDepth = 1444.503374; finalDepth = 1504.911556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1504.911556 # Seafloor depth:-1579.911556 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1519.503374 meters looking forward 0.000000 meters along route # Maximum depth: 1519.503374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.503374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098270; longitude = -173.744747; captureRadius = 10; duration = 208; initialDepth = 1380.980220; finalDepth = 1444.503374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1444.503374 # Seafloor depth:-1519.503374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1455.980220 meters looking forward 0.000000 meters along route # Maximum depth: 1455.980220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.980220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097533; longitude = -173.745300; captureRadius = 10; duration = 208; initialDepth = 1314.796609; finalDepth = 1380.980220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1380.98022 # Seafloor depth:-1455.980220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1389.796609 meters looking forward 0.000000 meters along route # Maximum depth: 1389.796609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.796609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096788; longitude = -173.745858; captureRadius = 10; duration = 208; initialDepth = 1253.831307; finalDepth = 1314.796609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1314.796609 # Seafloor depth:-1389.796609 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1328.831307 meters looking forward 0.000000 meters along route # Maximum depth: 1328.831307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.831307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096044; longitude = -173.746416; captureRadius = 10; duration = 208; initialDepth = 1201.577741; finalDepth = 1253.831307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1253.831307 # Seafloor depth:-1328.831307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1276.577741 meters looking forward 0.000000 meters along route # Maximum depth: 1276.577741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1201.577741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095286; longitude = -173.746984; captureRadius = 10; duration = 208; initialDepth = 1124.848176; finalDepth = 1201.577741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1201.577741 # Seafloor depth:-1276.577741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1199.848176 meters looking forward 0.000000 meters along route # Maximum depth: 1199.848176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.848176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094555; longitude = -173.747532; captureRadius = 10; duration = 208; initialDepth = 1127.543940; finalDepth = 1124.848176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1124.848176 # Seafloor depth:-1199.848176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1202.543940 meters looking forward 0.000000 meters along route # Maximum depth: 1202.543940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.543940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093810; longitude = -173.748091; captureRadius = 10; duration = 208; initialDepth = 1186.423571; finalDepth = 1127.543940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1127.54394 # Seafloor depth:-1202.543940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1272.967945 meters looking forward 0.000000 meters along route # Maximum depth: 1272.967945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.423571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093066; longitude = -173.748649; captureRadius = 10; duration = 208; initialDepth = 1245.303297; finalDepth = 1186.423571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5443737266089 # Actual altitude: 86.5443737266089 # Commanded vehicle depth:1186.42357127339 # Seafloor depth:-1272.967945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 346.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.93; MB_Bottom_Detect_Filter_Max_Range = 346.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1344.637110 meters looking forward 0.000000 meters along route # Maximum depth: 1344.637110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1245.303297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092321; longitude = -173.749207; captureRadius = 10; duration = 208; initialDepth = 1304.183118; finalDepth = 1245.303297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.3338127677748 # Actual altitude: 99.3338127677748 # Commanded vehicle depth:1245.30329723223 # Seafloor depth:-1344.637110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 59.60; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1404.659622 meters looking forward 0.000000 meters along route # Maximum depth: 1404.659622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1304.183118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091577; longitude = -173.749765; captureRadius = 10; duration = 208; initialDepth = 1363.063034; finalDepth = 1304.183118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.476504123499 # Actual altitude: 100 # Commanded vehicle depth:1304.1831178765 # Seafloor depth:-1404.659622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1465.615809 meters looking forward 0.000000 meters along route # Maximum depth: 1465.615809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.063034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090832; longitude = -173.750323; captureRadius = 10; duration = 208; initialDepth = 1421.943044; finalDepth = 1363.063034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.552775216432 # Actual altitude: 100 # Commanded vehicle depth:1363.06303378357 # Seafloor depth:-1465.615809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1527.951351 meters looking forward 0.000000 meters along route # Maximum depth: 1527.951351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.943044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090088; longitude = -173.750881; captureRadius = 10; duration = 208; initialDepth = 1480.823150; finalDepth = 1421.943044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.008306623921 # Actual altitude: 100 # Commanded vehicle depth:1421.94304437608 # Seafloor depth:-1527.951351 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1581.742995 meters looking forward 0.000000 meters along route # Maximum depth: 1581.742995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.823150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089343; longitude = -173.751440; captureRadius = 10; duration = 208; initialDepth = 1539.883762; finalDepth = 1480.823150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.008306623921 # Actual altitude: 100 # Commanded vehicle depth:1480.82314965403 # Seafloor depth:-1581.742995 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.301444 meters # Minimum depth: 1639.083790 meters looking forward 0.000000 meters along route # Maximum depth: 1639.083790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.883762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088597; longitude = -173.751999; captureRadius = 10; duration = 208; initialDepth = 1601.863773; finalDepth = 1539.883762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.919845345969 # Actual altitude: 100 # Commanded vehicle depth:1539.88376175787 # Seafloor depth:-1639.083790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 104.301444 meters # Minimum depth: 1690.934296 meters looking forward 0.000000 meters along route # Maximum depth: 1690.934296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.863773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087813; longitude = -173.752587; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1634.094543; finalDepth = 1601.863773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 99.2000282421284 # Actual altitude: 99.2000282421284 # Commanded vehicle depth:1601.86377315047 # Seafloor depth:-1690.934296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 59.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 104.301444 meters # Minimum depth: 1709.094543 meters looking forward 0.000000 meters along route # Maximum depth: 1709.094543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.094543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086819; longitude = -173.751285; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1590.697750; finalDepth = 1634.094543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.0705228495349 # Actual altitude: 89.0705228495349 # Commanded vehicle depth:1634.094543 # Seafloor depth:-1709.094543 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.44; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1665.697750 meters looking forward 0.000000 meters along route # Maximum depth: 1665.697750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.697750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087481; longitude = -173.750788; captureRadius = 10; duration = 208; initialDepth = 1537.286721; finalDepth = 1590.697750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1590.69775 # Seafloor depth:-1665.697750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1612.286721 meters looking forward 0.000000 meters along route # Maximum depth: 1612.286721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.286721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088235; longitude = -173.750223; captureRadius = 10; duration = 208; initialDepth = 1478.741079; finalDepth = 1537.286721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1537.286721 # Seafloor depth:-1612.286721 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1553.741079 meters looking forward 0.000000 meters along route # Maximum depth: 1553.741079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.741079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088970; longitude = -173.749672; captureRadius = 10; duration = 208; initialDepth = 1424.346003; finalDepth = 1478.741079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1478.741079 # Seafloor depth:-1553.741079 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1499.346003 meters looking forward 0.000000 meters along route # Maximum depth: 1499.346003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.346003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089715; longitude = -173.749114; captureRadius = 10; duration = 208; initialDepth = 1364.935036; finalDepth = 1424.346003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1424.346003 # Seafloor depth:-1499.346003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1439.935036 meters looking forward 0.000000 meters along route # Maximum depth: 1439.935036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.935036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090459; longitude = -173.748556; captureRadius = 10; duration = 208; initialDepth = 1309.940897; finalDepth = 1364.935036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1364.935036 # Seafloor depth:-1439.935036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1384.940897 meters looking forward 0.000000 meters along route # Maximum depth: 1384.940897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.940897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091204; longitude = -173.747997; captureRadius = 10; duration = 208; initialDepth = 1245.047075; finalDepth = 1309.940897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1309.940897 # Seafloor depth:-1384.940897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1320.047075 meters looking forward 0.000000 meters along route # Maximum depth: 1320.047075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1245.047075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091948; longitude = -173.747439; captureRadius = 10; duration = 208; initialDepth = 1205.025813; finalDepth = 1245.047075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1245.047075 # Seafloor depth:-1320.047075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1280.025813 meters looking forward 0.000000 meters along route # Maximum depth: 1280.025813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.025813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092693; longitude = -173.746881; captureRadius = 10; duration = 208; initialDepth = 1214.684448; finalDepth = 1205.025813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1205.025813 # Seafloor depth:-1280.025813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1289.684448 meters looking forward 0.000000 meters along route # Maximum depth: 1289.684448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.684448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093437; longitude = -173.746323; captureRadius = 10; duration = 208; initialDepth = 1246.846653; finalDepth = 1214.684448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1214.684448 # Seafloor depth:-1289.684448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1321.846653 meters looking forward 0.000000 meters along route # Maximum depth: 1321.846653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.846653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094182; longitude = -173.745765; captureRadius = 10; duration = 208; initialDepth = 1292.454742; finalDepth = 1246.846653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1246.846653 # Seafloor depth:-1321.846653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1367.454742 meters looking forward 0.000000 meters along route # Maximum depth: 1367.454742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.454742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094926; longitude = -173.745207; captureRadius = 10; duration = 208; initialDepth = 1343.458890; finalDepth = 1292.454742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1292.454742 # Seafloor depth:-1367.454742 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1418.458890 meters looking forward 0.000000 meters along route # Maximum depth: 1418.458890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.458890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095671; longitude = -173.744648; captureRadius = 10; duration = 208; initialDepth = 1402.119927; finalDepth = 1343.458890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1343.45889 # Seafloor depth:-1418.458890 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1477.119927 meters looking forward 0.000000 meters along route # Maximum depth: 1477.119927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.119927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096415; longitude = -173.744090; captureRadius = 10; duration = 208; initialDepth = 1438.420457; finalDepth = 1402.119927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1402.119927 # Seafloor depth:-1477.119927 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1513.420457 meters looking forward 0.000000 meters along route # Maximum depth: 1513.420457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.420457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097159; longitude = -173.743532; captureRadius = 10; duration = 208; initialDepth = 1497.625522; finalDepth = 1438.420457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1438.420457 # Seafloor depth:-1513.420457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1580.926650 meters looking forward 0.000000 meters along route # Maximum depth: 1580.926650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.625522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097908; longitude = -173.742971; captureRadius = 10; duration = 208; initialDepth = 1561.973477; finalDepth = 1497.625522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3011278617878 # Actual altitude: 83.3011278617878 # Commanded vehicle depth:1497.62552213821 # Seafloor depth:-1580.926650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 333.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.98; MB_Bottom_Detect_Filter_Max_Range = 333.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.301444 meters # Minimum depth: 1637.952274 meters looking forward 0.000000 meters along route # Maximum depth: 1637.952274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.973477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098722; longitude = -173.742361; captureRadius = 10; duration = 208; initialDepth = 1606.001984; finalDepth = 1561.973477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3011278617878 # Actual altitude: 83.3011278617878 # Commanded vehicle depth:1561.97347729867 # Seafloor depth:-1637.952274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 333.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.98; MB_Bottom_Detect_Filter_Max_Range = 333.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 104.301444 meters # Minimum depth: 1681.001984 meters looking forward 0.000000 meters along route # Maximum depth: 1681.001984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.001984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099475; longitude = -173.741796; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1622.074748; finalDepth = 1606.001984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9787967013335 # Actual altitude: 75.9787967013335 # Commanded vehicle depth:1606.001984 # Seafloor depth:-1681.001984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.59; MB_Bottom_Detect_Filter_Max_Range = 303.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.301444 meters # Minimum depth: 1697.074748 meters looking forward 0.000000 meters along route # Maximum depth: 1697.074748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.074748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099083; longitude = -173.741191; captureRadius = 10; duration = 208; initialDepth = 1646.699402; finalDepth = 1622.074748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1622.074748 # Seafloor depth:-1697.074748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 104.301444 meters # Minimum depth: 1721.699402 meters looking forward 0.000000 meters along route # Maximum depth: 1721.699402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.699402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098571; longitude = -173.740400; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1605.160624; finalDepth = 1646.699402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1646.699402 # Seafloor depth:-1721.699402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1680.160624 meters looking forward 0.000000 meters along route # Maximum depth: 1680.160624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.160624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097746; longitude = -173.741020; captureRadius = 10; duration = 208; initialDepth = 1556.741240; finalDepth = 1605.160624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1605.160624 # Seafloor depth:-1680.160624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1631.741240 meters looking forward 0.000000 meters along route # Maximum depth: 1631.741240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.741240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097003; longitude = -173.741578; captureRadius = 10; duration = 208; initialDepth = 1506.954420; finalDepth = 1556.741240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1556.74124 # Seafloor depth:-1631.741240 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1581.954420 meters looking forward 0.000000 meters along route # Maximum depth: 1581.954420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.954420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096261; longitude = -173.742137; captureRadius = 10; duration = 208; initialDepth = 1453.204737; finalDepth = 1506.954420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1506.95442 # Seafloor depth:-1581.954420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1528.204737 meters looking forward 0.000000 meters along route # Maximum depth: 1528.204737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.204737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095518; longitude = -173.742695; captureRadius = 10; duration = 208; initialDepth = 1407.571946; finalDepth = 1453.204737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1453.204737 # Seafloor depth:-1528.204737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1482.571946 meters looking forward 0.000000 meters along route # Maximum depth: 1482.571946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.571946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094776; longitude = -173.743253; captureRadius = 10; duration = 208; initialDepth = 1373.834271; finalDepth = 1407.571946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1407.571946 # Seafloor depth:-1482.571946 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1448.834271 meters looking forward 0.000000 meters along route # Maximum depth: 1448.834271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.834271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094021; longitude = -173.743820; captureRadius = 10; duration = 208; initialDepth = 1315.062315; finalDepth = 1373.834271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1373.834271 # Seafloor depth:-1448.834271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1390.062315 meters looking forward 0.000000 meters along route # Maximum depth: 1390.062315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1315.062315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093291; longitude = -173.744369; captureRadius = 10; duration = 208; initialDepth = 1246.548668; finalDepth = 1315.062315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1315.062315 # Seafloor depth:-1390.062315 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1321.548668 meters looking forward 0.000000 meters along route # Maximum depth: 1321.548668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.548668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092548; longitude = -173.744928; captureRadius = 10; duration = 208; initialDepth = 1261.106185; finalDepth = 1246.548668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1246.548668 # Seafloor depth:-1321.548668 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1336.106185 meters looking forward 0.000000 meters along route # Maximum depth: 1336.106185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.106185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091805; longitude = -173.745486; captureRadius = 10; duration = 208; initialDepth = 1319.886480; finalDepth = 1261.106185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1261.106185 # Seafloor depth:-1336.106185 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1398.077935 meters looking forward 0.000000 meters along route # Maximum depth: 1398.077935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.886480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091063; longitude = -173.746044; captureRadius = 10; duration = 208; initialDepth = 1365.391433; finalDepth = 1319.886480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1914553024751 # Actual altitude: 78.1914553024751 # Commanded vehicle depth:1319.88647969752 # Seafloor depth:-1398.077935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.91; MB_Bottom_Detect_Filter_Max_Range = 312.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1440.391433 meters looking forward 0.000000 meters along route # Maximum depth: 1440.391433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.391433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090314; longitude = -173.746607; captureRadius = 10; duration = 208; initialDepth = 1410.035384; finalDepth = 1365.391433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1914553024751 # Actual altitude: 78.1914553024751 # Commanded vehicle depth:1365.391433 # Seafloor depth:-1440.391433 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.91; MB_Bottom_Detect_Filter_Max_Range = 312.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1485.035384 meters looking forward 0.000000 meters along route # Maximum depth: 1485.035384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.035384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089578; longitude = -173.747160; captureRadius = 10; duration = 208; initialDepth = 1457.799264; finalDepth = 1410.035384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1410.035384 # Seafloor depth:-1485.035384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1532.799264 meters looking forward 0.000000 meters along route # Maximum depth: 1532.799264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.799264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088835; longitude = -173.747718; captureRadius = 10; duration = 208; initialDepth = 1505.223999; finalDepth = 1457.799264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1457.799264 # Seafloor depth:-1532.799264 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1580.223999 meters looking forward 0.000000 meters along route # Maximum depth: 1580.223999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.223999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088093; longitude = -173.748277; captureRadius = 10; duration = 208; initialDepth = 1554.198219; finalDepth = 1505.223999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1505.223999 # Seafloor depth:-1580.223999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1629.198219 meters looking forward 0.000000 meters along route # Maximum depth: 1629.198219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.198219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087350; longitude = -173.748835; captureRadius = 10; duration = 208; initialDepth = 1605.766892; finalDepth = 1554.198219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1554.198219 # Seafloor depth:-1629.198219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.301444 meters # Minimum depth: 1680.766892 meters looking forward 0.000000 meters along route # Maximum depth: 1680.766892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.766892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086608; longitude = -173.749393; captureRadius = 10; duration = 208; initialDepth = 1659.274689; finalDepth = 1605.766892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1605.766892 # Seafloor depth:-1680.766892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 104.301444 meters # Minimum depth: 1734.274689 meters looking forward 0.000000 meters along route # Maximum depth: 1734.274689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.274689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085824; longitude = -173.749982; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1674.378015; finalDepth = 1659.274689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1659.274689 # Seafloor depth:-1734.274689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.301444 meters # Minimum depth: 1749.378015 meters looking forward 0.000000 meters along route # Maximum depth: 1749.378015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.378015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085433; longitude = -173.749378; captureRadius = 10; duration = 208; initialDepth = 1696.716278; finalDepth = 1674.378015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1674.378015 # Seafloor depth:-1749.378015 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 104.301444 meters # Minimum depth: 1771.716278 meters looking forward 0.000000 meters along route # Maximum depth: 1771.716278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.716278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084920; longitude = -173.748587; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1660.361421; finalDepth = 1696.716278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1696.716278 # Seafloor depth:-1771.716278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1735.361421 meters looking forward 0.000000 meters along route # Maximum depth: 1735.361421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.361421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085582; longitude = -173.748091; captureRadius = 10; duration = 208; initialDepth = 1615.657249; finalDepth = 1660.361421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1660.361421 # Seafloor depth:-1735.361421 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1690.657249 meters looking forward 0.000000 meters along route # Maximum depth: 1690.657249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.657249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086337; longitude = -173.747525; captureRadius = 10; duration = 208; initialDepth = 1571.189902; finalDepth = 1615.657249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1615.657249 # Seafloor depth:-1690.657249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1646.189902 meters looking forward 0.000000 meters along route # Maximum depth: 1646.189902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.189902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087071; longitude = -173.746974; captureRadius = 10; duration = 208; initialDepth = 1530.317200; finalDepth = 1571.189902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1571.189902 # Seafloor depth:-1646.189902 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1605.317200 meters looking forward 0.000000 meters along route # Maximum depth: 1605.317200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.317200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087816; longitude = -173.746416; captureRadius = 10; duration = 208; initialDepth = 1484.093642; finalDepth = 1530.317200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1530.3172 # Seafloor depth:-1605.317200 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1559.093642 meters looking forward 0.000000 meters along route # Maximum depth: 1559.093642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.093642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088560; longitude = -173.745858; captureRadius = 10; duration = 208; initialDepth = 1421.981386; finalDepth = 1484.093642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1484.093642 # Seafloor depth:-1559.093642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1496.981386 meters looking forward 0.000000 meters along route # Maximum depth: 1496.981386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.981386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089305; longitude = -173.745300; captureRadius = 10; duration = 208; initialDepth = 1370.827274; finalDepth = 1421.981386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1421.981386 # Seafloor depth:-1496.981386 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1445.827274 meters looking forward 0.000000 meters along route # Maximum depth: 1445.827274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.827274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090049; longitude = -173.744741; captureRadius = 10; duration = 208; initialDepth = 1300.769890; finalDepth = 1370.827274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1370.827274 # Seafloor depth:-1445.827274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1375.769890 meters looking forward 0.000000 meters along route # Maximum depth: 1375.769890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1300.769890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090794; longitude = -173.744183; captureRadius = 10; duration = 208; initialDepth = 1284.337695; finalDepth = 1300.769890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1300.76989 # Seafloor depth:-1375.769890 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1359.337695 meters looking forward 0.000000 meters along route # Maximum depth: 1359.337695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.337695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091538; longitude = -173.743625; captureRadius = 10; duration = 208; initialDepth = 1343.220275; finalDepth = 1284.337695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1284.337695 # Seafloor depth:-1359.337695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1421.998492 meters looking forward 0.000000 meters along route # Maximum depth: 1421.998492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.220275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092283; longitude = -173.743067; captureRadius = 10; duration = 208; initialDepth = 1402.102760; finalDepth = 1343.220275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.778216621494 # Actual altitude: 78.778216621494 # Commanded vehicle depth:1343.22027537851 # Seafloor depth:-1421.998492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 315.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.27; MB_Bottom_Detect_Filter_Max_Range = 315.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1496.486491 meters looking forward 0.000000 meters along route # Maximum depth: 1496.486491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.102760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093027; longitude = -173.742509; captureRadius = 10; duration = 208; initialDepth = 1460.985151; finalDepth = 1402.102760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.3837305057812 # Actual altitude: 94.3837305057812 # Commanded vehicle depth:1402.10276049422 # Seafloor depth:-1496.486491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 56.63; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1561.884247 meters looking forward 0.000000 meters along route # Maximum depth: 1561.884247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.985151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093772; longitude = -173.741951; captureRadius = 10; duration = 208; initialDepth = 1519.867447; finalDepth = 1460.985151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.89909607551 # Actual altitude: 100 # Commanded vehicle depth:1460.98515092449 # Seafloor depth:-1561.884247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1600.232751 meters looking forward 0.000000 meters along route # Maximum depth: 1600.232751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.867447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094517; longitude = -173.741392; captureRadius = 10; duration = 208; initialDepth = 1559.755239; finalDepth = 1519.867447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.89909607551 # Actual altitude: 100 # Commanded vehicle depth:1519.86744666932 # Seafloor depth:-1600.232751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1634.755239 meters looking forward 0.000000 meters along route # Maximum depth: 1634.755239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.755239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095261; longitude = -173.740834; captureRadius = 10; duration = 208; initialDepth = 1610.475131; finalDepth = 1559.755239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.365304330682 # Actual altitude: 80.365304330682 # Commanded vehicle depth:1559.755239 # Seafloor depth:-1634.755239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 321.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.22; MB_Bottom_Detect_Filter_Max_Range = 321.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1685.475131 meters looking forward 0.000000 meters along route # Maximum depth: 1685.475131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.475131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096010; longitude = -173.740273; captureRadius = 10; duration = 208; initialDepth = 1655.257269; finalDepth = 1610.475131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1610.475131 # Seafloor depth:-1685.475131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.301444 meters # Minimum depth: 1730.257269 meters looking forward 0.000000 meters along route # Maximum depth: 1730.257269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.257269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096823; longitude = -173.739663; captureRadius = 10; duration = 208; initialDepth = 1704.570068; finalDepth = 1655.257269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1655.257269 # Seafloor depth:-1730.257269 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 104.301444 meters # Minimum depth: 1779.570068 meters looking forward 0.000000 meters along route # Maximum depth: 1779.570068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.570068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097577; longitude = -173.739098; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1729.862477; finalDepth = 1704.570068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1704.570068 # Seafloor depth:-1779.570068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.301444 meters # Minimum depth: 1804.862477 meters looking forward 0.000000 meters along route # Maximum depth: 1804.862477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.862477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097185; longitude = -173.738492; captureRadius = 10; duration = 208; initialDepth = 1761.510071; finalDepth = 1729.862477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1729.862477 # Seafloor depth:-1804.862477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 104.301444 meters # Minimum depth: 1836.510071 meters looking forward 0.000000 meters along route # Maximum depth: 1836.510071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.510071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096673; longitude = -173.737702; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1718.733978; finalDepth = 1761.510071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1761.510071 # Seafloor depth:-1836.510071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1793.733978 meters looking forward 0.000000 meters along route # Maximum depth: 1793.733978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.733978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095846; longitude = -173.738322; captureRadius = 10; duration = 208; initialDepth = 1680.706679; finalDepth = 1718.733978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1718.733978 # Seafloor depth:-1793.733978 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1755.706679 meters looking forward 0.000000 meters along route # Maximum depth: 1755.706679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.706679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095103; longitude = -173.738881; captureRadius = 10; duration = 208; initialDepth = 1643.472167; finalDepth = 1680.706679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1680.706679 # Seafloor depth:-1755.706679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1718.472167 meters looking forward 0.000000 meters along route # Maximum depth: 1718.472167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.472167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094359; longitude = -173.739439; captureRadius = 10; duration = 208; initialDepth = 1593.213947; finalDepth = 1643.472167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1643.472167 # Seafloor depth:-1718.472167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1668.213947 meters looking forward 0.000000 meters along route # Maximum depth: 1668.213947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.213947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093615; longitude = -173.739997; captureRadius = 10; duration = 208; initialDepth = 1537.074718; finalDepth = 1593.213947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1593.213947 # Seafloor depth:-1668.213947 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1612.074718 meters looking forward 0.000000 meters along route # Maximum depth: 1612.074718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.074718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092872; longitude = -173.740555; captureRadius = 10; duration = 208; initialDepth = 1468.926065; finalDepth = 1537.074718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1537.074718 # Seafloor depth:-1612.074718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1543.926065 meters looking forward 0.000000 meters along route # Maximum depth: 1543.926065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.926065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092122; longitude = -173.741118; captureRadius = 10; duration = 208; initialDepth = 1415.603351; finalDepth = 1468.926065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1468.926065 # Seafloor depth:-1543.926065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1490.603351 meters looking forward 0.000000 meters along route # Maximum depth: 1490.603351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.603351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091385; longitude = -173.741672; captureRadius = 10; duration = 208; initialDepth = 1368.600698; finalDepth = 1415.603351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1415.603351 # Seafloor depth:-1490.603351 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1443.600698 meters looking forward 0.000000 meters along route # Maximum depth: 1443.600698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.600698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090641; longitude = -173.742230; captureRadius = 10; duration = 208; initialDepth = 1375.161355; finalDepth = 1368.600698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1368.600698 # Seafloor depth:-1443.600698 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1450.161355 meters looking forward 0.000000 meters along route # Maximum depth: 1450.161355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.161355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089897; longitude = -173.742788; captureRadius = 10; duration = 208; initialDepth = 1432.922972; finalDepth = 1375.161355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1375.161355 # Seafloor depth:-1450.161355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1507.922972 meters looking forward 0.000000 meters along route # Maximum depth: 1507.922972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.922972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089154; longitude = -173.743346; captureRadius = 10; duration = 208; initialDepth = 1488.133079; finalDepth = 1432.922972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1432.922972 # Seafloor depth:-1507.922972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1563.133079 meters looking forward 0.000000 meters along route # Maximum depth: 1563.133079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.133079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088410; longitude = -173.743904; captureRadius = 10; duration = 208; initialDepth = 1533.806258; finalDepth = 1488.133079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1488.133079 # Seafloor depth:-1563.133079 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1608.806258 meters looking forward 0.000000 meters along route # Maximum depth: 1608.806258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.806258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087666; longitude = -173.744462; captureRadius = 10; duration = 208; initialDepth = 1592.643139; finalDepth = 1533.806258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1533.806258 # Seafloor depth:-1608.806258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1670.333957 meters looking forward 0.000000 meters along route # Maximum depth: 1670.333957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.643139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086923; longitude = -173.745021; captureRadius = 10; duration = 208; initialDepth = 1631.193883; finalDepth = 1592.643139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6908176264089 # Actual altitude: 77.6908176264089 # Commanded vehicle depth:1592.64313937359 # Seafloor depth:-1670.333957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 310.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.61; MB_Bottom_Detect_Filter_Max_Range = 310.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1706.193883 meters looking forward 0.000000 meters along route # Maximum depth: 1706.193883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.193883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086179; longitude = -173.745579; captureRadius = 10; duration = 208; initialDepth = 1676.297593; finalDepth = 1631.193883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6908176264089 # Actual altitude: 77.6908176264089 # Commanded vehicle depth:1631.193883 # Seafloor depth:-1706.193883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 310.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.61; MB_Bottom_Detect_Filter_Max_Range = 310.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1751.297593 meters looking forward 0.000000 meters along route # Maximum depth: 1751.297593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.297593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085433; longitude = -173.746139; captureRadius = 10; duration = 208; initialDepth = 1725.196060; finalDepth = 1676.297593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1676.297593 # Seafloor depth:-1751.297593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.301444 meters # Minimum depth: 1800.196060 meters looking forward 0.000000 meters along route # Maximum depth: 1800.196060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.196060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084619; longitude = -173.746750; captureRadius = 10; duration = 208; initialDepth = 1765.198059; finalDepth = 1725.196060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1725.19606 # Seafloor depth:-1800.196060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 104.301444 meters # Minimum depth: 1840.198059 meters looking forward 0.000000 meters along route # Maximum depth: 1840.198059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.198059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083866; longitude = -173.747315; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1789.678398; finalDepth = 1765.198059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1765.198059 # Seafloor depth:-1840.198059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.301444 meters # Minimum depth: 1864.678398 meters looking forward 0.000000 meters along route # Maximum depth: 1864.678398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.678398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083444; longitude = -173.746671; captureRadius = 10; duration = 208; initialDepth = 1824.537994; finalDepth = 1789.678398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1789.678398 # Seafloor depth:-1864.678398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 104.301444 meters # Minimum depth: 1899.537994 meters looking forward 0.000000 meters along route # Maximum depth: 1899.537994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.537994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082931; longitude = -173.745889; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1779.956239; finalDepth = 1824.537994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1824.537994 # Seafloor depth:-1899.537994 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1854.956239 meters looking forward 0.000000 meters along route # Maximum depth: 1854.956239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.956239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083715; longitude = -173.745300; captureRadius = 10; duration = 208; initialDepth = 1744.525680; finalDepth = 1779.956239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1779.956239 # Seafloor depth:-1854.956239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1819.525680 meters looking forward 0.000000 meters along route # Maximum depth: 1819.525680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.525680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084458; longitude = -173.744741; captureRadius = 10; duration = 208; initialDepth = 1711.650575; finalDepth = 1744.525680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1744.52568 # Seafloor depth:-1819.525680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1786.650575 meters looking forward 0.000000 meters along route # Maximum depth: 1786.650575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.650575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085200; longitude = -173.744183; captureRadius = 10; duration = 208; initialDepth = 1655.893212; finalDepth = 1711.650575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1711.650575 # Seafloor depth:-1786.650575 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1730.893212 meters looking forward 0.000000 meters along route # Maximum depth: 1730.893212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.893212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085943; longitude = -173.743625; captureRadius = 10; duration = 208; initialDepth = 1603.459305; finalDepth = 1655.893212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1655.893212 # Seafloor depth:-1730.893212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1678.459305 meters looking forward 0.000000 meters along route # Maximum depth: 1678.459305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.459305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086698; longitude = -173.743057; captureRadius = 10; duration = 208; initialDepth = 1550.296953; finalDepth = 1603.459305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1603.459305 # Seafloor depth:-1678.459305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1625.296953 meters looking forward 0.000000 meters along route # Maximum depth: 1625.296953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.296953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087428; longitude = -173.742509; captureRadius = 10; duration = 208; initialDepth = 1482.125456; finalDepth = 1550.296953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1550.296953 # Seafloor depth:-1625.296953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1557.125456 meters looking forward 0.000000 meters along route # Maximum depth: 1557.125456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.125456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088170; longitude = -173.741951; captureRadius = 10; duration = 208; initialDepth = 1431.034558; finalDepth = 1482.125456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1482.125456 # Seafloor depth:-1557.125456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1506.034558 meters looking forward 0.000000 meters along route # Maximum depth: 1506.034558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.034558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088913; longitude = -173.741392; captureRadius = 10; duration = 208; initialDepth = 1419.021451; finalDepth = 1431.034558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1431.034558 # Seafloor depth:-1506.034558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1494.021451 meters looking forward 0.000000 meters along route # Maximum depth: 1494.021451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.021451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089655; longitude = -173.740834; captureRadius = 10; duration = 208; initialDepth = 1466.177338; finalDepth = 1419.021451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1419.021451 # Seafloor depth:-1494.021451 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1541.177338 meters looking forward 0.000000 meters along route # Maximum depth: 1541.177338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.177338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090405; longitude = -173.740271; captureRadius = 10; duration = 208; initialDepth = 1524.418822; finalDepth = 1466.177338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1466.177338 # Seafloor depth:-1541.177338 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1608.649083 meters looking forward 0.000000 meters along route # Maximum depth: 1608.649083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.418822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091140; longitude = -173.739718; captureRadius = 10; duration = 208; initialDepth = 1583.198818; finalDepth = 1524.418822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2302612753822 # Actual altitude: 84.2302612753822 # Commanded vehicle depth:1524.41882172462 # Seafloor depth:-1608.649083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 336.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.54; MB_Bottom_Detect_Filter_Max_Range = 336.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1666.671578 meters looking forward 0.000000 meters along route # Maximum depth: 1666.671578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.198818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091883; longitude = -173.739160; captureRadius = 10; duration = 208; initialDepth = 1641.978719; finalDepth = 1583.198818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2302612753822 # Actual altitude: 84.2302612753822 # Commanded vehicle depth:1583.19881793206 # Seafloor depth:-1666.671578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 336.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.54; MB_Bottom_Detect_Filter_Max_Range = 336.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1718.886306 meters looking forward 0.000000 meters along route # Maximum depth: 1718.886306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.978719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092626; longitude = -173.738602; captureRadius = 10; duration = 208; initialDepth = 1700.031319; finalDepth = 1641.978719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4727600679407 # Actual altitude: 83.4727600679407 # Commanded vehicle depth:1641.97871887671 # Seafloor depth:-1718.886306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 333.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.08; MB_Bottom_Detect_Filter_Max_Range = 333.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1775.031319 meters looking forward 0.000000 meters along route # Maximum depth: 1775.031319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.031319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093368; longitude = -173.738043; captureRadius = 10; duration = 208; initialDepth = 1751.646969; finalDepth = 1700.031319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9075871232915 # Actual altitude: 76.9075871232915 # Commanded vehicle depth:1700.031319 # Seafloor depth:-1775.031319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 307.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.14; MB_Bottom_Detect_Filter_Max_Range = 307.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1826.646969 meters looking forward 0.000000 meters along route # Maximum depth: 1826.646969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.646969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094111; longitude = -173.737485; captureRadius = 10; duration = 208; initialDepth = 1792.115512; finalDepth = 1751.646969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1751.646969 # Seafloor depth:-1826.646969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.301444 meters # Minimum depth: 1867.115512 meters looking forward 0.000000 meters along route # Maximum depth: 1867.115512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.115512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094925; longitude = -173.736873; captureRadius = 10; duration = 208; initialDepth = 1824.543396; finalDepth = 1792.115512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1792.115512 # Seafloor depth:-1867.115512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 104.301444 meters # Minimum depth: 1899.543396 meters looking forward 0.000000 meters along route # Maximum depth: 1899.543396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.543396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095678; longitude = -173.736307; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1890.131042; finalDepth = 1824.543396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1824.543396 # Seafloor depth:-1899.543396 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 104.301444 meters # Minimum depth: 1965.131042 meters looking forward 0.000000 meters along route # Maximum depth: 1965.131042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.131042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094684; longitude = -173.735004; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1858.155439; finalDepth = 1890.131042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1890.131042 # Seafloor depth:-1965.131042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1933.155439 meters looking forward 0.000000 meters along route # Maximum depth: 1933.155439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.155439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094118; longitude = -173.735439; captureRadius = 10; duration = 208; initialDepth = 1803.633643; finalDepth = 1858.155439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1858.155439 # Seafloor depth:-1933.155439 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1878.633643 meters looking forward 0.000000 meters along route # Maximum depth: 1878.633643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.633643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093392; longitude = -173.735997; captureRadius = 10; duration = 208; initialDepth = 1757.836478; finalDepth = 1803.633643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1803.633643 # Seafloor depth:-1878.633643 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1832.836478 meters looking forward 0.000000 meters along route # Maximum depth: 1832.836478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.836478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092665; longitude = -173.736555; captureRadius = 10; duration = 208; initialDepth = 1699.790617; finalDepth = 1757.836478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1757.836478 # Seafloor depth:-1832.836478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1774.790617 meters looking forward 0.000000 meters along route # Maximum depth: 1774.790617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.790617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091938; longitude = -173.737113; captureRadius = 10; duration = 208; initialDepth = 1636.494196; finalDepth = 1699.790617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1699.790617 # Seafloor depth:-1774.790617 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1711.494196 meters looking forward 0.000000 meters along route # Maximum depth: 1711.494196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.494196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091212; longitude = -173.737671; captureRadius = 10; duration = 208; initialDepth = 1604.118915; finalDepth = 1636.494196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1636.494196 # Seafloor depth:-1711.494196 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1679.118915 meters looking forward 0.000000 meters along route # Maximum depth: 1679.118915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.118915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090485; longitude = -173.738229; captureRadius = 10; duration = 208; initialDepth = 1549.102254; finalDepth = 1604.118915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1604.118915 # Seafloor depth:-1679.118915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1624.102254 meters looking forward 0.000000 meters along route # Maximum depth: 1624.102254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.102254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089759; longitude = -173.738788; captureRadius = 10; duration = 208; initialDepth = 1504.079133; finalDepth = 1549.102254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1549.102254 # Seafloor depth:-1624.102254 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.301444 meters # Minimum depth: 1579.079133 meters looking forward 0.000000 meters along route # Maximum depth: 1579.079133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.079133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089032; longitude = -173.739346; captureRadius = 10; duration = 208; initialDepth = 1453.045258; finalDepth = 1504.079133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1504.079133 # Seafloor depth:-1579.079133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 104.301444 meters # Minimum depth: 1528.045258 meters looking forward 0.000000 meters along route # Maximum depth: 1528.045258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.045258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088265; longitude = -173.739935; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1434.033017; finalDepth = 1453.045258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1453.045258 # Seafloor depth:-1528.045258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.301444 meters # Minimum depth: 1509.033017 meters looking forward 0.000000 meters along route # Maximum depth: 1509.033017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.033017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089049; longitude = -173.740777; captureRadius = 10; duration = 208; initialDepth = 1402.080786; finalDepth = 1434.033017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1434.033017 # Seafloor depth:-1509.033017 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.301444 meters # Minimum depth: 1477.080786 meters looking forward 0.000000 meters along route # Maximum depth: 1477.080786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.080786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089709; longitude = -173.741485; captureRadius = 10; duration = 208; initialDepth = 1368.949829; finalDepth = 1402.080786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1402.080786 # Seafloor depth:-1477.080786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 104.301444 meters # Minimum depth: 1443.949829 meters looking forward 0.000000 meters along route # Maximum depth: 1443.949829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.949829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090344; longitude = -173.742168; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1308.164489; finalDepth = 1368.949829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1368.949829 # Seafloor depth:-1443.949829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.301444 meters # Minimum depth: 1383.164489 meters looking forward 0.000000 meters along route # Maximum depth: 1383.164489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.164489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091140; longitude = -173.743253; captureRadius = 10; duration = 208; initialDepth = 1277.308807; finalDepth = 1308.164489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1308.164489 # Seafloor depth:-1383.164489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 104.301444 meters # Minimum depth: 1352.308807 meters looking forward 0.000000 meters along route # Maximum depth: 1352.308807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1277.308807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091731; longitude = -173.744059; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1248.647133; finalDepth = 1277.308807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1277.308807 # Seafloor depth:-1352.308807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.301444 meters # Minimum depth: 1323.647133 meters looking forward 0.000000 meters along route # Maximum depth: 1323.647133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.647133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092310; longitude = -173.744928; captureRadius = 10; duration = 208; initialDepth = 1235.659409; finalDepth = 1248.647133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1248.647133 # Seafloor depth:-1323.647133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.301444 meters # Minimum depth: 1310.659409 meters looking forward 0.000000 meters along route # Maximum depth: 1310.659409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.659409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092867; longitude = -173.745765; captureRadius = 10; duration = 208; initialDepth = 1200.731598; finalDepth = 1235.659409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1235.659409 # Seafloor depth:-1310.659409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.301444 meters # Minimum depth: 1275.731598 meters looking forward 0.000000 meters along route # Maximum depth: 1275.731598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.731598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093388; longitude = -173.746546; captureRadius = 10; duration = 208; initialDepth = 1138.070892; finalDepth = 1200.731598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1200.731598 # Seafloor depth:-1275.731598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 104.301444 meters # Minimum depth: 1213.070892 meters looking forward 0.000000 meters along route # Maximum depth: 1213.070892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.070892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093900; longitude = -173.747315; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1122.706352; finalDepth = 1138.070892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1138.070892 # Seafloor depth:-1213.070892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.301444 meters # Minimum depth: 1197.706352 meters looking forward 0.000000 meters along route # Maximum depth: 1197.706352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.706352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094745; longitude = -173.748649; captureRadius = 10; duration = 208; initialDepth = 1160.530396; finalDepth = 1122.706352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1122.706352 # Seafloor depth:-1197.706352 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 104.301444 meters # Minimum depth: 1235.530396 meters looking forward 0.000000 meters along route # Maximum depth: 1235.530396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.530396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095256; longitude = -173.749455; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1208.773386; finalDepth = 1160.530396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1160.530396 # Seafloor depth:-1235.530396 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.301444 meters # Minimum depth: 1297.413683 meters looking forward 0.000000 meters along route # Maximum depth: 1297.413683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.773386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096010; longitude = -173.749496; captureRadius = 10; duration = 208; initialDepth = 1270.508887; finalDepth = 1208.773386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6402967185948 # Actual altitude: 88.6402967185948 # Commanded vehicle depth:1208.77338628141 # Seafloor depth:-1297.413683 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 104.301444 meters # Minimum depth: 1374.109894 meters looking forward 0.000000 meters along route # Maximum depth: 1374.109894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1270.508887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096974; longitude = -173.749548; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1353.549202; finalDepth = 1270.508887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.601007046711 # Actual altitude: 100 # Commanded vehicle depth:1270.50888695329 # Seafloor depth:-1374.109894 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1456.997601 meters looking forward 0.000000 meters along route # Maximum depth: 1456.997601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.549202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098179; longitude = -173.750047; captureRadius = 10; duration = 208; initialDepth = 1415.834472; finalDepth = 1353.549202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.601007046711 # Actual altitude: 100 # Commanded vehicle depth:1353.54920159345 # Seafloor depth:-1456.997601 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1514.223167 meters looking forward 0.000000 meters along route # Maximum depth: 1514.223167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.834472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099083; longitude = -173.750421; captureRadius = 10; duration = 208; initialDepth = 1478.119727; finalDepth = 1415.834472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.448399406554 # Actual altitude: 100 # Commanded vehicle depth:1415.83447192347 # Seafloor depth:-1514.223167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1579.594759 meters looking forward 0.000000 meters along route # Maximum depth: 1579.594759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.119727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099987; longitude = -173.750795; captureRadius = 10; duration = 208; initialDepth = 1540.404968; finalDepth = 1478.119727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.475031757613 # Actual altitude: 100 # Commanded vehicle depth:1478.11972724239 # Seafloor depth:-1579.594759 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1641.787316 meters looking forward 0.000000 meters along route # Maximum depth: 1641.787316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.404968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100891; longitude = -173.751169; captureRadius = 10; duration = 208; initialDepth = 1602.690194; finalDepth = 1540.404968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.475031757613 # Actual altitude: 100 # Commanded vehicle depth:1540.40496812755 # Seafloor depth:-1641.787316 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1700.489158 meters looking forward 0.000000 meters along route # Maximum depth: 1700.489158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.690194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.751543; captureRadius = 10; duration = 208; initialDepth = 1664.975406; finalDepth = 1602.690194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.382347872453 # Actual altitude: 100 # Commanded vehicle depth:1602.6901940016 # Seafloor depth:-1700.489158 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1760.692506 meters looking forward 0.000000 meters along route # Maximum depth: 1760.692506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.975406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102699; longitude = -173.751917; captureRadius = 10; duration = 208; initialDepth = 1727.260603; finalDepth = 1664.975406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7989639983989 # Actual altitude: 97.7989639983989 # Commanded vehicle depth:1664.97540601925 # Seafloor depth:-1760.692506 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 58.68; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1814.490142 meters looking forward 0.000000 meters along route # Maximum depth: 1814.490142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.260603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103603; longitude = -173.752291; captureRadius = 10; duration = 208; initialDepth = 1789.545785; finalDepth = 1727.260603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.7170999807511 # Actual altitude: 95.7170999807511 # Commanded vehicle depth:1727.26060302579 # Seafloor depth:-1814.490142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.43; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1867.064851 meters looking forward 0.000000 meters along route # Maximum depth: 1867.064851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.545785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.752665; captureRadius = 10; duration = 208; initialDepth = 1847.541217; finalDepth = 1789.545785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2295389742101 # Actual altitude: 87.2295389742101 # Commanded vehicle depth:1789.54578502122 # Seafloor depth:-1867.064851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 348.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.34; MB_Bottom_Detect_Filter_Max_Range = 348.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1922.541217 meters looking forward 0.000000 meters along route # Maximum depth: 1922.541217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.541217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105411; longitude = -173.753039; captureRadius = 10; duration = 208; initialDepth = 1898.200427; finalDepth = 1847.541217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5190659787759 # Actual altitude: 77.5190659787759 # Commanded vehicle depth:1847.541217 # Seafloor depth:-1922.541217 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 310.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.51; MB_Bottom_Detect_Filter_Max_Range = 310.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 1973.200427 meters looking forward 0.000000 meters along route # Maximum depth: 1973.200427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.200427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106315; longitude = -173.753413; captureRadius = 10; duration = 208; initialDepth = 1949.123316; finalDepth = 1898.200427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1898.200427 # Seafloor depth:-1973.200427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2024.123316 meters looking forward 0.000000 meters along route # Maximum depth: 2024.123316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.123316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107219; longitude = -173.753787; captureRadius = 10; duration = 208; initialDepth = 2002.910143; finalDepth = 1949.123316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1949.123316 # Seafloor depth:-2024.123316 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2077.910143 meters looking forward 0.000000 meters along route # Maximum depth: 2077.910143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.910143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108123; longitude = -173.754161; captureRadius = 10; duration = 208; initialDepth = 2048.628502; finalDepth = 2002.910143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2002.910143 # Seafloor depth:-2077.910143 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2123.628502 meters looking forward 0.000000 meters along route # Maximum depth: 2123.628502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.628502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109027; longitude = -173.754535; captureRadius = 10; duration = 208; initialDepth = 2092.149135; finalDepth = 2048.628502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2048.628502 # Seafloor depth:-2123.628502 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2167.149135 meters looking forward 0.000000 meters along route # Maximum depth: 2167.149135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.149135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109866; longitude = -173.754882; captureRadius = 10; duration = 208; initialDepth = 2138.191196; finalDepth = 2092.149135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2092.149135 # Seafloor depth:-2167.149135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2213.191196 meters looking forward 0.000000 meters along route # Maximum depth: 2213.191196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2138.191196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110765; longitude = -173.755254; captureRadius = 10; duration = 208; initialDepth = 2185.876069; finalDepth = 2138.191196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2138.191196 # Seafloor depth:-2213.191196 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2260.876069 meters looking forward 0.000000 meters along route # Maximum depth: 2260.876069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2185.876069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111664; longitude = -173.755626; captureRadius = 10; duration = 208; initialDepth = 2228.563864; finalDepth = 2185.876069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2185.876069 # Seafloor depth:-2260.876069 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2303.563864 meters looking forward 0.000000 meters along route # Maximum depth: 2303.563864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2228.563864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112564; longitude = -173.755998; captureRadius = 10; duration = 208; initialDepth = 2274.687461; finalDepth = 2228.563864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2228.563864 # Seafloor depth:-2303.563864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2349.687461 meters looking forward 0.000000 meters along route # Maximum depth: 2349.687461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.687461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113463; longitude = -173.756370; captureRadius = 10; duration = 208; initialDepth = 2311.868368; finalDepth = 2274.687461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2274.687461 # Seafloor depth:-2349.687461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2386.868368 meters looking forward 0.000000 meters along route # Maximum depth: 2386.868368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2311.868368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114363; longitude = -173.756742; captureRadius = 10; duration = 208; initialDepth = 2348.313639; finalDepth = 2311.868368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2311.868368 # Seafloor depth:-2386.868368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2423.313639 meters looking forward 0.000000 meters along route # Maximum depth: 2423.313639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2348.313639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115265; longitude = -173.757116; captureRadius = 10; duration = 208; initialDepth = 2387.406126; finalDepth = 2348.313639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2348.313639 # Seafloor depth:-2423.313639 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2462.406126 meters looking forward 0.000000 meters along route # Maximum depth: 2462.406126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2387.406126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116169; longitude = -173.757490; captureRadius = 10; duration = 208; initialDepth = 2423.666336; finalDepth = 2387.406126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2387.406126 # Seafloor depth:-2462.406126 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2498.666336 meters looking forward 0.000000 meters along route # Maximum depth: 2498.666336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2423.666336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117073; longitude = -173.757864; captureRadius = 10; duration = 208; initialDepth = 2450.457497; finalDepth = 2423.666336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2423.666336 # Seafloor depth:-2498.666336 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2525.457497 meters looking forward 0.000000 meters along route # Maximum depth: 2525.457497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2450.457497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117977; longitude = -173.758238; captureRadius = 10; duration = 208; initialDepth = 2474.357689; finalDepth = 2450.457497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2450.457497 # Seafloor depth:-2525.457497 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2549.357689 meters looking forward 0.000000 meters along route # Maximum depth: 2549.357689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2474.357689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118881; longitude = -173.758612; captureRadius = 10; duration = 208; initialDepth = 2493.489014; finalDepth = 2474.357689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2474.357689 # Seafloor depth:-2549.357689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2568.489014 meters looking forward 0.000000 meters along route # Maximum depth: 2568.489014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2493.489014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119785; longitude = -173.758986; captureRadius = 10; duration = 208; initialDepth = 2511.494289; finalDepth = 2493.489014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2493.489014 # Seafloor depth:-2568.489014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2586.494289 meters looking forward 0.000000 meters along route # Maximum depth: 2586.494289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2511.494289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120689; longitude = -173.759360; captureRadius = 10; duration = 208; initialDepth = 2526.734399; finalDepth = 2511.494289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2511.494289 # Seafloor depth:-2586.494289 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2601.734399 meters looking forward 0.000000 meters along route # Maximum depth: 2601.734399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2526.734399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121558; longitude = -173.759719; captureRadius = 10; duration = 208; initialDepth = 2536.445332; finalDepth = 2526.734399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2526.734399 # Seafloor depth:-2601.734399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.301444 meters # Minimum depth: 2611.445332 meters looking forward 0.000000 meters along route # Maximum depth: 2611.445332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2782.034180 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2536.445332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122407; longitude = -173.760070; captureRadius = 10; duration = 208; initialDepth = 2540.404602; finalDepth = 2536.445332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2536.445332 # Seafloor depth:-2611.445332 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 75 # Sonar parameter altitude: 75 # Commanded vehicle depth:2540.404602 # Seafloor depth:-2615.404602 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 104.301444 meters # Minimum depth: 2615.404602 meters looking forward 0.000000 meters along route # Maximum depth: 2615.404602 meters looking forward 0.000000 meters along route # Vehicle depth: 2540.404602 meters behavior waypoint { latitude = -15.123281; longitude = -173.760432; captureRadius = 10; duration = 1270; depth = 2540.404602; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2540.404602 meters set by local depth and desired altitude behavior descend { duration = 7526; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 104.301444 meters # Minimum depth: 2615.404602 meters looking forward 0.000000 meters along route # Maximum depth: 2615.404602 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = -15.123281; longitude = -173.760432; captureRadius = 10; duration = 1000; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 21.178243; 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 = 21.178243; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################